{"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":521049,"control":"replay_open_jaw","config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[-0.13444185590820024,0.478946141966813,0.302],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"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,-0.13444194846976829,0.4789461432058896,0.2998922445174839,1.0,7.096395253514009e-16,5.2785475166232767e-14,1.834369063946817e-18],"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,-8.076844912958227e-14,1.085587447179601e-15,2.361643720327617e-09,-5.4291270887796975e-14,-4.043412353409701e-12,-1.6375497543465679e-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":[-0.13444194846976829,0.4789461432058896,0.2998922445174839],"object_quaternion_wxyz":[1.0,7.096395253514009e-16,5.2785475166232767e-14,1.834369063946817e-18],"object_linear_velocity_m_s":[-8.076844912958227e-14,1.085587447179601e-15,2.361643720327617e-09],"object_angular_velocity_rad_s":[-5.429127088779696e-14,-4.043412353409701e-12,-1.7090435959991278e-28],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"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":[-1.570650239472625,-1.576508036224432,1.5311245400001046,-1.5256139203547907,-1.5707831832438681,0.00014575078052606828],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.0,"joint_targets_rad":[-1.570650239472625,-1.576508036224432,1.5311245400001046,-1.5256139203547907,-1.5707831832438681,0.00014575078052606828],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.02000000000000001,"qpos":[-1.5708017857100696,-1.570992494225161,1.5695666579854102,-1.56928917883601,-1.5707989469738581,1.3297940275468135e-05,0.0029332468790114674,0.00015949278585306782,0.0031840487962050876,-0.0034417425948450346,0.002932908993595324,0.0001568564414606495,0.003178597476518608,-0.0034523576687417934,-0.13444194846976942,0.4789461432058896,0.29989224455018243,1.0,3.358917263650303e-16,2.4892735037851813e-14,1.8343690639521456e-18],"qvel":[0.0005448071842069221,-0.013177796711968687,-0.12872243532367894,0.14331935570290313,4.319313051676794e-05,0.0006693068754794679,0.0009709644337100719,8.139572219340137e-05,0.0007698256238828355,-0.0012395780955626302,0.0009556171063424136,6.13655324585268e-06,0.0004722053564866576,-0.0013059244183191033,-3.80888267805477e-14,5.1402109084535e-16,1.1221197937725972e-09,-2.5472799040811443e-14,-1.906617368525193e-12,6.844585300164797e-28],"joint_position_rad":[-1.5708017857100696,-1.570992494225161,1.5695666579854102,-1.56928917883601,-1.5707989469738581,1.3297940275468135e-05],"joint_velocity_rad_s":[0.0005448071842069221,-0.013177796711968687,-0.12872243532367894,0.14331935570290313,4.319313051676794e-05,0.0006693068754794679],"linkage_position_rad":[0.0029332468790114674,0.00015949278585306782,0.0031840487962050876,-0.0034417425948450346,0.002932908993595324,0.0001568564414606495,0.003178597476518608,-0.0034523576687417934],"tcp_position_m":[-0.13399664454079604,0.49189616198831254,0.33275078911384187],"tcp_quaternion_wxyz":[2.9674516189726763e-05,0.7071134120826287,0.7071001490582834,-2.7821544522993664e-05],"object_position_m":[-0.13444194846976942,0.4789461432058896,0.29989224455018243],"object_quaternion_wxyz":[1.0,3.358917263650303e-16,2.4892735037851813e-14,1.8343690639521456e-18],"object_linear_velocity_m_s":[-3.80888267805477e-14,5.1402109084535e-16,1.1221197937725972e-09],"object_angular_velocity_rad_s":[-2.5472799040811437e-14,-1.906617368525193e-12,6.71799805544253e-28],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313834776381281,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570648461659141,-1.5869794663312264,1.5303319864953644,-1.545624554355413,-1.57078172027411,0.00014574959232568525,0.0],"actuator_force":[0.08872522817409845,-26.70282552734352,-26.980368850619925,-2.4996233299917776,0.004294036822443559,-0.000704861522838246,-0.302940701330602],"issued_joint_targets_rad":[-1.5706502836720375,-1.5766785105812011,1.5298876194303523,-1.5242062574080686,-1.5707831773583245,0.00014573734925516974],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.02000000000000001,"joint_targets_rad":[-1.5706502836720375,-1.5766785105812011,1.5298876194303523,-1.5242062574080686,-1.5707831773583245,0.00014573734925516974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.04000000000000003,"qpos":[-1.5707998094371638,-1.5713663427404465,1.566070379901531,-1.5653824350001084,-1.5707970432928962,2.599313877865778e-05,0.0029415208052459047,0.0001574621332287264,0.003197959642215873,-0.0034426592352474476,0.002941426511267252,0.00015713227327348006,0.0032008419275984584,-0.0034518447452949567,-0.13444194846976998,0.4789461432058896,0.29989224456577385,1.0,1.6318700869492823e-16,1.1670889521391486e-14,1.8343690638935373e-18],"qvel":[8.358254618670307e-05,-0.025622911856020135,-0.18245105847584553,0.20783980421205667,-3.340130085848524e-06,0.0006055446445760712,-8.53210507463729e-05,-0.0001816799076943929,0.00042039737256698945,0.0008760195586907348,-5.667229297909414e-05,-4.710078808342241e-05,0.000888806173894073,0.0008996134731859211,-1.799678879579556e-14,2.960226501901324e-16,5.591249360946298e-10,-8.82867190821477e-15,-9.636258641392838e-13,-5.92023687975059e-26],"joint_position_rad":[-1.5707998094371638,-1.5713663427404465,1.566070379901531,-1.5653824350001084,-1.5707970432928962,2.599313877865778e-05],"joint_velocity_rad_s":[8.358254618670307e-05,-0.025622911856020135,-0.18245105847584553,0.20783980421205667,-3.340130085848524e-06,0.0006055446445760712],"linkage_position_rad":[0.0029415208052459047,0.0001574621332287264,0.003197959642215873,-0.0034426592352474476,0.002941426511267252,0.00015713227327348006,0.0032008419275984584,-0.0034518447452949567],"tcp_position_m":[-0.13399810422690278,0.4917225457417592,0.3342641475665785],"tcp_quaternion_wxyz":[4.194796889504572e-05,0.7071172011278445,0.7070963586330968,-4.144038974495393e-05],"object_position_m":[-0.13444194846976998,0.4789461432058896,0.29989224456577385],"object_quaternion_wxyz":[1.0,1.6318700869492823e-16,1.1670889521391486e-14,1.8343690638935373e-18],"object_linear_velocity_m_s":[-1.799678879579556e-14,2.960226501901324e-16,5.591249360946298e-10],"object_angular_velocity_rad_s":[-8.828671908214766e-15,-9.636258641392838e-13,-5.931079433312303e-26],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313549614955807,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5706460174225332,-1.5871512311193194,1.5194208085558387,-1.5290272003294658,-1.5707817060845473,0.00014573461679974806,0.0],"actuator_force":[0.2741510107866816,-21.3206120153377,-20.318719301046258,-2.606363085884368,0.008002617183024086,-0.0006837254470619808,-0.29343739910703054],"issued_joint_targets_rad":[-1.5706452679127998,-1.5769240354219927,1.5262715641532512,-1.5203449812288319,-1.57078308858285,0.0001507712060351261],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.04000000000000003,"joint_targets_rad":[-1.5706452679127998,-1.5769240354219927,1.5262715641532512,-1.5203449812288319,-1.57078308858285,0.0001507712060351261],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.060000000000000046,"qpos":[-1.5707882496120593,-1.5718866898692045,1.5622903057088797,-1.5610950507891885,-1.570796246929756,3.793482817924243e-05,0.002940377881939186,0.00015618917485299828,0.003200342648051464,-0.0034354156104514943,0.0029404160093636318,0.0001564277277441671,0.003205447759621714,-0.00344419331673212,-0.13444194846976928,0.4789461432058896,0.29989224457377606,1.0,2.548750027487549e-15,-3.1646839062344786e-14,1.8343689874757756e-18],"qvel":[0.0006947955107825465,-0.027094969766737465,-0.1828886121600293,0.2050974765242509,4.9086174228737093e-05,0.0005700599845620281,-0.00017534272104082578,-4.211977189508453e-05,-3.47744205790116e-05,0.0003584150792729289,-0.0001715144648393457,-2.0711702061589936e-05,5.257903418016513e-05,0.00038410194823965837,1.6783824387955554e-13,1.1978721529569818e-14,2.8613183297150946e-10,8.664168647958059e-13,-1.3459512491597174e-11,-2.807754612579468e-23],"joint_position_rad":[-1.5707882496120593,-1.5718866898692045,1.5622903057088797,-1.5610950507891885,-1.570796246929756,3.793482817924243e-05],"joint_velocity_rad_s":[0.0006947955107825465,-0.027094969766737465,-0.1828886121600293,0.2050974765242509,4.9086174228737093e-05,0.0005700599845620281],"linkage_position_rad":[0.002940377881939186,0.00015618917485299828,0.003200342648051464,-0.0034354156104514943,0.0029404160093636318,0.0001564277277441671,0.003205447759621714,-0.00344419331673212],"tcp_position_m":[-0.13400399029357107,0.4914906319255118,0.3359509844368793],"tcp_quaternion_wxyz":[3.7057484787275374e-05,0.7071173364084872,0.7070962238620634,-3.711225162029515e-05],"object_position_m":[-0.13444194846976928,0.4789461432058896,0.29989224457377606],"object_quaternion_wxyz":[1.0,2.548750027487549e-15,-3.1646839062344786e-14,1.8343689874757756e-18],"object_linear_velocity_m_s":[1.6783824387955554e-13,1.1978721529569818e-14,2.8613183297150946e-10],"object_angular_velocity_rad_s":[8.664168647958059e-13,-1.3459512491597174e-11,-2.809131728129835e-23],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313441868653703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5706409179810974,-1.5873858218147938,1.5158051213729014,-1.5251657576023865,-1.5707816202940355,0.00015076842497984203,0.0],"actuator_force":[0.016745057610933145,-20.160275984483633,-19.81492380794498,-2.5451010590240912,0.0024047004374097014,-0.0005892000559030164,-0.29230540863574006],"issued_joint_targets_rad":[-1.5706325521545357,-1.5772540378622,1.522293570940394,-1.5160377153258844,-1.5707829516314908,0.00016348539134371598],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.060000000000000046,"joint_targets_rad":[-1.5706325521545357,-1.5772540378622,1.522293570940394,-1.5160377153258844,-1.5707829516314908,0.00016348539134371598],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.08000000000000006,"qpos":[-1.5707726501627135,-1.5724020218116763,1.5584903890925026,-1.5568146950650044,-1.5707949917387274,4.99099165014202e-05,0.0029390856728929013,0.00015613393621659183,0.003199463760876662,-0.0034339831807460885,0.0029391089782288336,0.00015636456949061938,0.003204675369852785,-0.0034425215184297284,-0.13444194846964766,0.47894614320589773,0.29989224457770225,1.0,2.6449622954055465e-13,-3.941549805115818e-12,1.8343561551935037e-18],"qvel":[0.0007190494136219276,-0.026311718192024644,-0.1838562529707585,0.20519649985604496,4.989000662596674e-05,0.0005737365411278441,-0.00016717025221986838,-2.9786313296424423e-05,-6.888688316825075e-05,0.0002883740882079437,-0.00016236023732206143,-7.521160923632271e-06,8.431107196998219e-06,0.00029124758397915823,5.7275675369683646e-12,3.843997613440396e-13,1.1307912608489784e-10,1.1773785049796896e-11,-1.7580838667541962e-10,-8.670990853483459e-22],"joint_position_rad":[-1.5707726501627135,-1.5724020218116763,1.5584903890925026,-1.5568146950650044,-1.5707949917387274,4.99099165014202e-05],"joint_velocity_rad_s":[0.0007190494136219276,-0.026311718192024644,-0.1838562529707585,0.20519649985604496,4.989000662596674e-05,0.0005737365411278441],"linkage_position_rad":[0.0029390856728929013,0.00015613393621659183,0.003199463760876662,-0.0034339831807460885,0.0029391089782288336,0.00015636456949061938,0.003204675369852785,-0.0034425215184297284],"tcp_position_m":[-0.1340119728933777,0.49125856914557814,0.3376456369727552],"tcp_quaternion_wxyz":[2.4277301862476003e-05,0.707116055575603,0.7070975058093397,-2.5219507983236198e-05],"object_position_m":[-0.13444194846964766,0.47894614320589773,0.29989224457770225],"object_quaternion_wxyz":[1.0,2.6449622954055465e-13,-3.941549805115818e-12,1.8343561551935037e-18],"object_linear_velocity_m_s":[5.7275675369683646e-12,3.843997613440396e-13,1.1307912608489784e-10],"object_angular_velocity_rad_s":[1.1773785049796896e-11,-1.7580838667541962e-10,-8.672864758058536e-22],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313444047283956,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5706281943554965,-1.5877045124731402,1.5118275541689652,-1.5208585670710912,-1.5707814794395891,0.00016348265662385436,0.0],"actuator_force":[0.001291848985147226,-20.080294046117615,-19.783168658771046,-2.5415859886479666,0.001767148906537841,-0.0005872840515673272,-0.29226208010837706],"issued_joint_targets_rad":[-1.5706163364098753,-1.5775656957401478,1.5182763758606515,-1.511709734569871,-1.570782800521539,0.00017969168483305902],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.08000000000000006,"joint_targets_rad":[-1.5706163364098753,-1.5775656957401478,1.5182763758606515,-1.511709734569871,-1.570782800521539,0.00017969168483305902],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.10000000000000007,"qpos":[-1.5707567753741205,-1.572898778377266,1.5546698195312334,-1.552530219597596,-1.570793816788356,6.227404013692024e-05,0.002938000611249409,0.00015613255451728134,0.0031984289886226418,-0.0034329631334617536,0.002938023106682427,0.0001563662665211147,0.003203661405259617,-0.0034414906863547666,-0.13444194846931098,0.47894614320592016,0.2998922445791022,1.0,7.409677241692177e-13,-1.1048779622661978e-11,1.834321646600163e-18],"qvel":[0.0007200853393137063,-0.025379769222443768,-0.1848509046386668,0.20541312357235308,4.5182049566134524e-05,0.0005931394095001703,-0.00015696287814533292,-3.0006605680738223e-05,-6.339678025181757e-05,0.00028103405727254174,-0.00015185658756466515,-7.1946081772472625e-06,1.434249857927571e-05,0.0002816559729191443,1.3621817240469956e-11,9.135573656737738e-13,3.827774432959059e-11,1.7529398057506657e-12,-2.6244301168336598e-11,-1.586002231274261e-21],"joint_position_rad":[-1.5707567753741205,-1.572898778377266,1.5546698195312334,-1.552530219597596,-1.570793816788356,6.227404013692024e-05],"joint_velocity_rad_s":[0.0007200853393137063,-0.025379769222443768,-0.1848509046386668,0.20541312357235308,4.5182049566134524e-05,0.0005931394095001703],"linkage_position_rad":[0.002938000611249409,0.00015613255451728134,0.0031984289886226418,-0.0034329631334617536,0.002938023106682427,0.0001563662665211147,0.003203661405259617,-0.0034414906863547666],"tcp_position_m":[-0.13402006296130653,0.49102652781383277,0.33934070215290135],"tcp_quaternion_wxyz":[1.2247218071501935e-05,0.7071148146939777,0.7070987473427778,-1.4020723346594826e-05],"object_position_m":[-0.13444194846931098,0.47894614320592016,0.2998922445791022],"object_quaternion_wxyz":[1.0,7.409677241692177e-13,-1.1048779622661978e-11,1.834321646600163e-18],"object_linear_velocity_m_s":[1.3621817240469956e-11,9.135573656737738e-13,3.827774432959059e-11],"object_angular_velocity_rad_s":[1.7529398057506657e-12,-2.6244301168336598e-11,-1.5861589002814269e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313453078418575,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5706119762281712,-1.588005053830704,1.5078109539875597,-1.516530665777093,-1.570781324428171,0.00017968899769924145,0.0],"actuator_force":[0.001564156173117226,-20.060643217897905,-19.777369231880584,-2.541535446983744,0.0017279751358501017,-0.0006064621688564309,-0.2922570885680418],"issued_joint_targets_rad":[-1.5705999283198842,-1.577859785201214,1.5142395220492713,-1.5073796585990478,-1.5707826499502415,0.0001960907189236038],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.10000000000000007,"joint_targets_rad":[-1.5705999283198842,-1.577859785201214,1.5142395220492713,-1.5073796585990478,-1.5707826499502415,0.0001960907189236038],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.12000000000000009,"qpos":[-1.5707408446391675,-1.5733762246522165,1.5508287708929114,-1.5482414125972703,-1.570792737987598,7.502400901438267e-05,0.0029371077991648615,0.0001561311354689551,0.0031975485718480547,-0.003432112205986301,0.0029371306189839774,0.0001563682075313306,0.003202794232603038,-0.0034406373095563323,-0.13444194846884777,0.47894614320595125,0.2998922445795644,1.0,1.083265907746063e-12,-1.6154122082822126e-11,1.834278047985821e-18],"qvel":[0.0007192442724455172,-0.024446694501832948,-0.18583692555803058,0.2056207122927567,4.057117591001279e-05,0.0006115703643416336,-0.00014810688595469712,-3.003901409178637e-05,-5.425900399595104e-05,0.0002727116875890103,-0.0001429483931696785,-6.977550237742053e-06,2.4327913639172583e-05,0.00027352184327703776,2.1469544517420336e-11,1.4397218961880199e-12,1.2820183270384987e-11,1.1988174633185775e-12,-1.7920174522518727e-11,-2.8969933438549957e-21],"joint_position_rad":[-1.5707408446391675,-1.5733762246522165,1.5508287708929114,-1.5482414125972703,-1.570792737987598,7.502400901438267e-05],"joint_velocity_rad_s":[0.0007192442724455172,-0.024446694501832948,-0.18583692555803058,0.2056207122927567,4.057117591001279e-05,0.0006115703643416336],"linkage_position_rad":[0.0029371077991648615,0.0001561311354689551,0.0031975485718480547,-0.003432112205986301,0.0029371306189839774,0.0001563682075313306,0.003202794232603038,-0.0034406373095563323],"tcp_position_m":[-0.1340281485634484,0.49079456106672575,0.34103569257936267],"tcp_quaternion_wxyz":[1.3690831832401548e-06,0.7071136902399556,0.7070998720535143,-3.906408923749599e-06],"object_position_m":[-0.13444194846884777,0.47894614320595125,0.2998922445795644],"object_quaternion_wxyz":[1.0,1.083265907746063e-12,-1.6154122082822126e-11,1.834278047985821e-18],"object_linear_velocity_m_s":[2.1469544517420336e-11,1.4397218961880199e-12,1.2820183270384987e-11],"object_angular_velocity_rad_s":[1.1988174633185775e-12,-1.7920174522518727e-11,-2.897086284782269e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931346094059726,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5705955662491657,-1.5882882571092942,1.503774871107848,-1.512200659133811,-1.5707811702563919,0.00019608807502492068,0.0],"actuator_force":[0.002859071025341109,-20.045387113422294,-19.773029346914427,-2.541694497546132,0.0017267480121745393,-0.0006250034288943496,-0.29225664451182004],"issued_joint_targets_rad":[-1.5705835136762416,-1.578136267218703,1.5101841472095316,-1.5030486572561066,-1.5707825005409943,0.0002124971277037457],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.12000000000000009,"joint_targets_rad":[-1.5705835136762416,-1.578136267218703,1.5101841472095316,-1.5030486572561066,-1.5707825005409943,0.0002124971277037457],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.1400000000000001,"qpos":[-1.5707248759785792,-1.5738344713298196,1.5469674379537155,-1.5439485739481207,-1.570791747904666,8.812442607485057e-05,0.0029363758094027104,0.00015613026117339054,0.003196825996143474,-0.003431415956607104,0.002936398917923215,0.00015637054105700077,0.003202083913352755,-0.0034399380553178384,-0.13444194846832153,0.4789461432059866,0.29989224457971436,1.0,1.2466210817826573e-12,-1.8590304311009475e-11,1.834230906121703e-18],"qvel":[0.0007181166979302202,-0.023521097102465353,-0.18681371887816645,0.2058127685305026,3.637703892302291e-05,0.0006282686963839666,-0.00014081454509102216,-3.011640251787387e-05,-4.6329817670485475e-05,0.0002659498328312612,-0.0001356029416478429,-6.787674415726785e-06,3.321224970284094e-05,0.0002668526177278931,2.85724535712236e-11,1.916010170463396e-12,4.255140151194168e-12,1.716551678956898e-11,-2.559823070914367e-10,-5.2639437610105834e-21],"joint_position_rad":[-1.5707248759785792,-1.5738344713298196,1.5469674379537155,-1.5439485739481207,-1.570791747904666,8.812442607485057e-05],"joint_velocity_rad_s":[0.0007181166979302202,-0.023521097102465353,-0.18681371887816645,0.2058127685305026,3.637703892302291e-05,0.0006282686963839666],"linkage_position_rad":[0.0029363758094027104,0.00015613026117339054,0.003196825996143474,-0.003431415956607104,0.002936398917923215,0.00015637054105700077,0.003202083913352755,-0.0034399380553178384],"tcp_position_m":[-0.13403622272582524,0.49056267511825896,0.3427305767397534],"tcp_quaternion_wxyz":[-8.435993376785611e-06,0.7071126761229208,0.7071008861316074,5.197141278774576e-06],"object_position_m":[-0.13444194846832153,0.4789461432059866,0.29989224457971436],"object_quaternion_wxyz":[1.0,1.2466210817826573e-12,-1.8590304311009475e-11,1.834230906121703e-18],"object_linear_velocity_m_s":[2.85724535712236e-11,1.916010170463396e-12,4.255140151194168e-12],"object_angular_velocity_rad_s":[1.716551678956898e-11,-2.559823070914367e-10,-5.2639452806300185e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931346739368215,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5705791498595554,-1.5885540824955484,1.4997204435193017,-1.5078697170014845,-1.5707810175404218,0.00021249452273704972,0.0],"actuator_force":[0.004205558875582938,-20.03078349047155,-19.768501317561004,-2.541848379732187,0.0017274782297818092,-0.0006418213072970913,-0.29225664893260195],"issued_joint_targets_rad":[-1.5705671041840557,-1.5783951263574443,1.5061102490979204,-1.4987167451615873,-1.5707823521079962,0.00022889916170303168],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.1400000000000001,"joint_targets_rad":[-1.5705671041840557,-1.5783951263574443,1.5061102490979204,-1.4987167451615873,-1.5707823521079962,0.00022889916170303168],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.16000000000000011,"qpos":[-1.5707088736234314,-1.5742736678893683,1.5430859906476169,-1.5396520017138002,-1.5707908382425593,0.00010154133587555084,0.0029357757952893112,0.00015612937793547523,0.00319623462296778,-0.0034308451511542424,0.0029357991894144557,0.00015637284278302663,0.003201504632682444,-0.0034393643277736328,-0.1344419484677743,0.47894614320602336,0.29989224457976243,1.0,1.2688112846934158e-12,-1.892108296183419e-11,1.8341824737605788e-18],"qvel":[0.000716822116103397,-0.022602757442717857,-0.1877824295025467,0.20599058302642406,3.258236277211316e-05,0.0006433463551571249,-0.00013484138748452433,-3.020214133748387e-05,-3.968426903027958e-05,0.00026047918625503015,-0.00012957626975852442,-6.605953053679615e-06,4.082187411044737e-05,0.00026147672973734056,3.6551728052363184e-11,2.451109933939827e-12,1.3923162843381788e-12,5.154523795255568e-11,-7.686317841656562e-10,-9.575215997982643e-21],"joint_position_rad":[-1.5707088736234314,-1.5742736678893683,1.5430859906476169,-1.5396520017138002,-1.5707908382425593,0.00010154133587555084],"joint_velocity_rad_s":[0.000716822116103397,-0.022602757442717857,-0.1877824295025467,0.20599058302642406,3.258236277211316e-05,0.0006433463551571249],"linkage_position_rad":[0.0029357757952893112,0.00015612937793547523,0.00319623462296778,-0.0034308451511542424,0.0029357991894144557,0.00015637284278302663,0.003201504632682444,-0.0034393643277736328],"tcp_position_m":[-0.13404428547418376,0.49033087357390875,0.3444253535991403],"tcp_quaternion_wxyz":[-1.7269064615207875e-05,0.7071117618764551,0.707101800123993,1.3385175280833049e-05],"object_position_m":[-0.1344419484677743,0.47894614320602336,0.29989224457976243],"object_quaternion_wxyz":[1.0,1.2688112846934158e-12,-1.892108296183419e-11,1.8341824737605788e-18],"object_linear_velocity_m_s":[3.6551728052363184e-11,2.451109933939827e-12,1.3923162843381788e-12],"object_angular_velocity_rad_s":[5.154523795255568e-11,-7.686317841656562e-10,-9.5751299138539e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313472650193448,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5705627387263321,-1.5888025116905797,1.4956476688466245,-1.5035378548784775,-1.5707808660680291,0.00022889659175238274,0.0],"actuator_force":[0.005540947757253889,-20.01658462533578,-19.763671800965767,-2.541984884981048,0.0017278509877769466,-0.0006570075772965311,-0.2922566609489731],"issued_joint_targets_rad":[-1.570550699965277,-1.5786363460578938,1.5020177456669905,-1.494383858647597,-1.5707822044356268,0.00024529662967101963],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.16000000000000011,"joint_targets_rad":[-1.570550699965277,-1.5786363460578938,1.5020177456669905,-1.494383858647597,-1.5707822044356268,0.00024529662967101963],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.18000000000000013,"qpos":[-1.5706928406000655,-1.5746939511512115,1.5391845744443753,-1.5353519610103463,-1.5707900013758607,0.00011524396449530077,0.0029352839427867075,0.00015612844925496296,0.0031957509195948285,-0.0034303770061663206,0.0029353076183351243,0.00015637506744731539,0.003201032900654465,-0.0034388932775023017,-0.13444194846724059,0.47894614320605927,0.2998922445797775,1.0,1.1581296434113388e-12,-1.727051699855669e-11,1.8341379280419187e-18],"qvel":[0.0007153818912287476,-0.021690932844108984,-0.18874422274414465,0.2061558060477813,2.9151320905400125e-05,0.0006569577982367148,-0.00012995039839088876,-3.0287563349001955e-05,-3.410488380896548e-05,0.00025603777071876656,-0.00012463162456280975,-6.42299980918282e-06,4.736952971974669e-05,0.000257131531740119,4.789234681252363e-11,3.211485152308696e-12,4.4609956824699284e-13,1.0742502616499707e-10,-1.6020985020913843e-09,-1.748126898452948e-20],"joint_position_rad":[-1.5706928406000655,-1.5746939511512115,1.5391845744443753,-1.5353519610103463,-1.5707900013758607,0.00011524396449530077],"joint_velocity_rad_s":[0.0007153818912287476,-0.021690932844108984,-0.18874422274414465,0.2061558060477813,2.9151320905400125e-05,0.0006569577982367148],"linkage_position_rad":[0.0029352839427867075,0.00015612844925496296,0.0031957509195948285,-0.0034303770061663206,0.0029353076183351243,0.00015637506744731539,0.003201032900654465,-0.0034388932775023017],"tcp_position_m":[-0.13405233725706106,0.4900991599472382,0.3461200240503407],"tcp_quaternion_wxyz":[-2.522347434751061e-05,0.7071109377238599,0.7071026238705912,2.074570020663518e-05],"object_position_m":[-0.13444194846724059,0.47894614320605927,0.2998922445797775],"object_quaternion_wxyz":[1.0,1.1581296434113388e-12,-1.727051699855669e-11,1.8341379280419187e-18],"object_linear_velocity_m_s":[4.789234681252363e-11,3.211485152308696e-12,4.4609956824699284e-13],"object_angular_velocity_rad_s":[1.0742502616499707e-10,-1.6020985020913843e-09,-1.748157303749739e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313476922472481,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5705463329553258,-1.589033525428761,1.4915564649052866,-1.4992050099466188,-1.5707807155983122,0.0002452940911932054,0.0],"actuator_force":[0.00686253298772499,-20.002775417455723,-19.758529980519597,-2.542105072914296,0.0017277566836355618,-0.0006707164747191685,-0.2922566679413231],"issued_joint_targets_rad":[-1.5705343004307553,-1.578859908134534,1.4979065473042457,-1.4900499279827004,-1.5707820573271178,0.0002616900555234298],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.18000000000000013,"joint_targets_rad":[-1.5705343004307553,-1.578859908134534,1.4979065473042457,-1.4900499279827004,-1.5707820573271178,0.0002616900555234298],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.20000000000000015,"qpos":[-1.5706767795974843,-1.5750954431584825,1.5352633123224881,-1.5310486849977718,-1.5707892303840059,0.00012920453464250519,0.0029348807311548376,0.0001561274840073454,0.0031953554776050896,-0.0034299929971259332,0.0029349046840492585,0.00015637722709552454,0.0032006493260949317,-0.0034385063735991135,-0.13444194846664753,0.47894614320609896,0.29989224457978214,1.0,1.1796674690340603e-12,-1.7592122109055196e-11,1.8340716003924747e-18],"qvel":[0.0007138095356105734,-0.02078490890300909,-0.18970017133282197,0.20630996585441316,2.6050070262812112e-05,0.0006692459728698165,-0.00012594649919966228,-3.0372699809078992e-05,-2.939980299864257e-05,0.00025244090965286257,-0.00012057384555394221,-6.238567110009545e-06,5.304712839424429e-05,0.0002536311041588659,2.1565659401427363e-11,1.4461231096391196e-12,1.1323943989778225e-13,-4.3407711313781393e-11,6.473156306334536e-10,-1.8951302578738313e-21],"joint_position_rad":[-1.5706767795974843,-1.5750954431584825,1.5352633123224881,-1.5310486849977718,-1.5707892303840059,0.00012920453464250519],"joint_velocity_rad_s":[0.0007138095356105734,-0.02078490890300909,-0.18970017133282197,0.20630996585441316,2.6050070262812112e-05,0.0006692459728698165],"linkage_position_rad":[0.0029348807311548376,0.0001561274840073454,0.0031953554776050896,-0.0034299929971259332,0.0029349046840492585,0.00015637722709552454,0.0032006493260949317,-0.0034385063735991135],"tcp_position_m":[-0.13406037851098362,0.48986753784977305,0.3478145890241053],"tcp_quaternion_wxyz":[-3.2383749255524335e-05,0.7071101948212312,0.7071033662645728,2.7358398476800792e-05],"object_position_m":[-0.13444194846664753,0.47894614320609896,0.29989224457978214],"object_quaternion_wxyz":[1.0,1.1796674690340603e-12,-1.7592122109055196e-11,1.8340716003924747e-18],"object_linear_velocity_m_s":[2.1565659401427363e-11,1.4461231096391196e-12,1.1323943989778225e-13],"object_angular_velocity_rad_s":[-4.3407711313781393e-11,6.473156306334536e-10,-1.8951633903760436e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313480387826863,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5705299319438832,-1.5892471030989979,1.4874467419661541,-1.494871113245353,-1.5707805659114935,0.00026168754531354137,0.0],"actuator_force":[0.008171492957899318,-19.98935631982704,-19.75307217953923,-2.542210709231881,0.0017272292298002867,-0.0006830919514635436,-0.29225666903643677],"issued_joint_targets_rad":[-1.5705179049979663,-1.579065792722021,1.4937765615655665,-1.4857148821397232,-1.570781910605071,0.00027807996213322333],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.20000000000000015,"joint_targets_rad":[-1.5705179049979663,-1.579065792722021,1.4937765615655665,-1.4857148821397232,-1.570781910605071,0.00027807996213322333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.22000000000000017,"qpos":[-1.5706606930490745,-1.5754782522332136,1.5313223066761958,-1.526742377712325,-1.5707885189920425,0.00014339798171916912,0.0029345501614222824,0.00015612648911539432,0.0031950323764441185,-0.00342967793429892,0.0029345743880921957,0.00015637933257489173,0.003200338002996822,-0.003438188425487605,-0.1344419484660355,0.47894614320613993,0.2998922445797836,1.0,1.2544279329109293e-12,-1.8707381496553374e-11,1.8339866266266468e-18],"qvel":[0.0007121168968818855,-0.019884030195032442,-0.19065125731265914,0.20645445081869376,2.324783157319157e-05,0.0006803401202194535,-0.00012266971358375147,-3.0457635805356894e-05,-2.5409918201281145e-05,0.00024953682675505625,-0.00011724295022925918,-6.052725312228898e-06,5.801380904152788e-05,0.00025082372771209095,2.362468798049508e-11,1.5841637771199962e-12,3.0112878707754414e-14,-3.467096987052838e-11,5.170337922828857e-10,-3.463536360870377e-21],"joint_position_rad":[-1.5706606930490745,-1.5754782522332136,1.5313223066761958,-1.526742377712325,-1.5707885189920425,0.00014339798171916912],"joint_velocity_rad_s":[0.0007121168968818855,-0.019884030195032442,-0.19065125731265914,0.20645445081869376,2.324783157319157e-05,0.0006803401202194535],"linkage_position_rad":[0.0029345501614222824,0.00015612648911539432,0.0031950323764441185,-0.00342967793429892,0.0029345743880921957,0.00015637933257489173,0.003200338002996822,-0.003438188425487605],"tcp_position_m":[-0.13406840963522487,0.4896360110114179,0.34950904937137584],"tcp_quaternion_wxyz":[-3.882632012313212e-05,0.7071095251874463,0.7071040353251582,3.329530762102677e-05],"object_position_m":[-0.1344419484660355,0.47894614320613993,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2544279329109293e-12,-1.8707381496553374e-11,1.8339866266266468e-18],"object_linear_velocity_m_s":[2.362468798049508e-11,1.5841637771199962e-12,3.0112878707754414e-14],"object_angular_velocity_rad_s":[-3.467096987052838e-11,5.170337922828857e-10,-3.463579218720303e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313483191753033,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5705135350971853,-1.5894432226752757,1.4833184074895378,-1.4905360944435622,-1.5707804168093065,0.0002780774772921164,0.0],"actuator_force":[0.009469145025832404,-19.97632880611127,-19.74729544825277,-2.5423034474880524,0.0017263082107774608,-0.0006942642354716977,-0.29225666415665885],"issued_joint_targets_rad":[-1.570501513133841,-1.5792539782558728,1.4896276934256205,-1.481378649077654,-1.5707817641091704,0.00029446682818575355],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.22000000000000017,"joint_targets_rad":[-1.570501513133841,-1.5792539782558728,1.4896276934256205,-1.481378649077654,-1.5707817641091704,0.00029446682818575355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.24000000000000019,"qpos":[-1.5706445831594809,-1.5758424741278974,1.5273616410410025,-1.5224332167529646,-1.5707878615108415,0.0001578016897673027,0.0029342791217724846,0.0001561254702510563,0.003194768568122086,-0.003429419369111406,0.002934303619098966,0.00015638139309302447,0.0032000858963388227,-0.003437926983320272,-0.13444194846543722,0.47894614320618006,0.2998922445797836,1.0,1.3003960652930635e-12,-1.939270863884807e-11,1.833891476285309e-18],"qvel":[0.0007103146788286207,-0.01898769673945808,-0.19159838056983095,0.20659052101915504,2.0716691348850045e-05,0.0006903568903361725,-0.00011998891921592899,-3.0542442051684604e-05,-2.2004656080796087e-05,0.00024720104221618596,-0.00011450781073987044,-5.865524898602591e-06,6.240021883327073e-05,0.00024858493918076033,2.6173542491749657e-11,1.755094848177722e-12,1.0343969975522717e-14,-1.9162046621885115e-11,2.8577859307717236e-10,-6.327386169953009e-21],"joint_position_rad":[-1.5706445831594809,-1.5758424741278974,1.5273616410410025,-1.5224332167529646,-1.5707878615108415,0.0001578016897673027],"joint_velocity_rad_s":[0.0007103146788286207,-0.01898769673945808,-0.19159838056983095,0.20659052101915504,2.0716691348850045e-05,0.0006903568903361725],"linkage_position_rad":[0.0029342791217724846,0.0001561254702510563,0.003194768568122086,-0.003429419369111406,0.002934303619098966,0.00015638139309302447,0.0032000858963388227,-0.003437926983320272],"tcp_position_m":[-0.1340764309936646,0.489404583289658,0.35120340586401044],"tcp_quaternion_wxyz":[-4.4620289642012173e-05,0.7071089216215053,0.7071046382825364,3.862154625990313e-05],"object_position_m":[-0.13444194846543722,0.47894614320618006,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3003960652930635e-12,-1.939270863884807e-11,1.833891476285309e-18],"object_linear_velocity_m_s":[2.6173542491749657e-11,1.755094848177722e-12,1.0343969975522717e-14],"object_angular_velocity_rad_s":[-1.9162046621885115e-11,2.8577859307717236e-10,-6.327343428112406e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485453488064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570497141870878,-1.5896218606747508,1.479171366374691,-1.4861998821284366,-1.570780268112515,0.0002944643660905471,0.0],"actuator_force":[0.010756705673884426,-19.96369439792352,-19.741197104690855,-2.5423847896513507,0.0017250300284104014,-0.000704350871995052,-0.29225665339379353],"issued_joint_targets_rad":[-1.5704851243530904,-1.5794244414483012,1.4854598452218009,-1.4770411557227803,-1.570781617694021,0.000310851089449187],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.24000000000000019,"joint_targets_rad":[-1.5704851243530904,-1.5794244414483012,1.4854598452218009,-1.4770411557227803,-1.570781617694021,0.000310851089449187],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2600000000000002,"qpos":[-1.5706284519258078,-1.5761881930766766,1.523381381647143,-1.5181213557152509,-1.5707872527824263,0.00017239525263663437,0.0029340568666141173,0.00015612443196326512,0.0031945533597539173,-0.0034292070995317076,0.002934081631888974,0.00015638341643303707,0.0031998823250569586,-0.0034377118438120103,-0.13444194846485719,0.478946143206219,0.2998922445797836,1.0,1.3058530517509211e-12,-1.9474139452802777e-11,1.8337879481342443e-18],"qvel":[0.0007084125697708101,-0.018095358665913847,-0.1925423670236096,0.2067193205841434,1.843134297642868e-05,0.0006994015548509601,-0.00011779665695945154,-3.062718184962574e-05,-1.907698451013835e-05,0.00024533155899912477,-0.00011226096189108862,-5.6770063996095055e-06,6.631347495738806e-05,0.00024681275497920194,2.984426563116388e-11,2.001226026889212e-12,6.9827697684700545e-15,5.517577258402367e-12,-8.22948941361197e-11,-1.1559398846651886e-20],"joint_position_rad":[-1.5706284519258078,-1.5761881930766766,1.523381381647143,-1.5181213557152509,-1.5707872527824263,0.00017239525263663437],"joint_velocity_rad_s":[0.0007084125697708101,-0.018095358665913847,-0.1925423670236096,0.2067193205841434,1.843134297642868e-05,0.0006994015548509601],"linkage_position_rad":[0.0029340568666141173,0.00015612443196326512,0.0031945533597539173,-0.0034292070995317076,0.002934081631888974,0.00015638341643303707,0.0031998823250569586,-0.0034377118438120103],"tcp_position_m":[-0.13408444291814853,0.4891732586785375,0.35289765920286953],"tcp_quaternion_wxyz":[-4.9828134452316195e-05,0.7071083776265534,0.7071051816556633,4.339597793281531e-05],"object_position_m":[-0.13444194846485719,0.478946143206219,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3058530517509211e-12,-1.9474139452802777e-11,1.8337879481342443e-18],"object_linear_velocity_m_s":[2.984426563116388e-11,2.001226026889212e-12,6.9827697684700545e-15],"object_angular_velocity_rad_s":[5.517577258402367e-12,-8.22948941361197e-11,-1.1559428786010745e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487270734394,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5704807517692934,-1.58978299211264,1.475005520902836,-1.4818624037931294,-1.570780119658571,0.00031084864772659514,0.0],"actuator_force":[0.012035285120418848,-19.951454605561594,-19.73477467917064,-2.542456097353579,0.001723427630167862,-0.0007134579401156249,-0.29225663683090186],"issued_joint_targets_rad":[-1.5704687382138725,-1.5795771572568702,1.4812729165725338,-1.472702327930286,-1.5707814712272576,0.00032723314271340307],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.2600000000000002,"joint_targets_rad":[-1.5704687382138725,-1.5795771572568702,1.4812729165725338,-1.472702327930286,-1.5707814712272576,0.00032723314271340307],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2800000000000002,"qpos":[-1.5706123011566502,-1.576515482742636,1.5193815788164815,-1.5138069263888105,-1.5707866881303307,0.00018716025841028394,0.0029338745895694384,0.00015612337786705954,0.0031943779885749376,-0.003429032764565389,0.002933899620458376,0.0001563854091680443,0.0031997185371867927,-0.003437534644751937,-0.13444194846430188,0.4789461432062562,0.2998922445797836,1.0,1.252239463872487e-12,-1.867453341261548e-11,1.8336812035442663e-18],"qvel":[0.0007064193361582631,-0.017206511220674167,-0.193483976088064,0.20684188897488062,1.6368846021816493e-05,0.0007075691157237966,-0.00011600486123078659,-3.071190924164772e-05,-1.6539170511138844e-05,0.00024384479367056482,-0.00011041433174328442,-5.487198791511398e-06,6.984140417093722e-05,0.0002454236039441274,3.567906857367337e-11,2.3925107149960315e-12,6.4096171320073165e-15,4.283188895594474e-11,-6.387233366095975e-10,-2.1151516616772606e-20],"joint_position_rad":[-1.5706123011566502,-1.576515482742636,1.5193815788164815,-1.5138069263888105,-1.5707866881303307,0.00018716025841028394],"joint_velocity_rad_s":[0.0007064193361582631,-0.017206511220674167,-0.193483976088064,0.20684188897488062,1.6368846021816493e-05,0.0007075691157237966],"linkage_position_rad":[0.0029338745895694384,0.00015612337786705954,0.0031943779885749376,-0.003429032764565389,0.002933899620458376,0.0001563854091680443,0.0031997185371867927,-0.003437534644751937],"tcp_position_m":[-0.1340924457116567,0.4889420413182651,0.35459181002582973],"tcp_quaternion_wxyz":[-5.450634044770491e-05,0.7071078873411728,0.7071056713224407,4.7671811727277074e-05],"object_position_m":[-0.13444194846430188,0.4789461432062562,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.252239463872487e-12,-1.867453341261548e-11,1.8336812035442663e-18],"object_linear_velocity_m_s":[3.567906857367337e-11,2.3925107149960315e-12,6.4096171320073165e-15],"object_angular_velocity_rad_s":[4.283188895594474e-11,-6.387233366095975e-10,-2.115145467110385e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488723545703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5704643643410259,-1.589926590451979,1.4708207706546512,-1.4775235858042541,-1.5707799712995558,0.00032723071921563184,0.0],"actuator_force":[0.013305896785368532,-19.93961093041662,-19.72802588843524,-2.542518605209807,0.0017215307852893602,-0.0007216811697056957,-0.29225661453652035],"issued_joint_targets_rad":[-1.5704523543136095,-1.5797120988456808,1.4770668042884314,-1.4683620904450545,-1.5707813245878985,0.0003436133496015995],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.2800000000000002,"joint_targets_rad":[-1.5704523543136095,-1.5797120988456808,1.4770668042884314,-1.4683620904450545,-1.5707813245878985,0.0003436133496015995],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3000000000000002,"qpos":[-1.5705961324893354,-1.5768244070696766,1.5153622682172423,-1.5094900407405312,-1.570786163314555,0.00020208009486010847,0.0029337250735203086,0.0001561223108200314,0.003194235273608725,-0.0034288895120229332,0.0029337503680294565,0.00015638737686473887,0.0031995873616319725,-0.003437388532769046,-0.13444194846375254,0.47894614320629314,0.2998922445797836,1.0,1.1926966383468062e-12,-1.778642629977522e-11,1.833562553407161e-18],"qvel":[0.0007043429061687278,-0.016320690212141865,-0.1944239074480232,0.20695917119318222,1.4508407136423239e-05,0.0007149453071326861,-0.00011454136042809323,-3.0796670698262236e-05,-1.431929732661435e-05,0.00024267225226307836,-0.00010889574200581047,-5.296121128559902e-06,7.305602575110834e-05,0.00024434900642554487,4.554334181429746e-11,3.054012495611851e-12,6.319411511256519e-15,9.708248275070904e-11,-1.4477091794409585e-09,-3.857750204954741e-20],"joint_position_rad":[-1.5705961324893354,-1.5768244070696766,1.5153622682172423,-1.5094900407405312,-1.570786163314555,0.00020208009486010847],"joint_velocity_rad_s":[0.0007043429061687278,-0.016320690212141865,-0.1944239074480232,0.20695917119318222,1.4508407136423239e-05,0.0007149453071326861],"linkage_position_rad":[0.0029337250735203086,0.0001561223108200314,0.003194235273608725,-0.0034288895120229332,0.0029337503680294565,0.00015638737686473887,0.0031995873616319725,-0.003437388532769046],"tcp_position_m":[-0.1341004396511941,0.48871093550560024,0.3562858589152911],"tcp_quaternion_wxyz":[-5.8705977237384494e-05,0.7071074454773248,0.7071061125829584,5.149714529603849e-05],"object_position_m":[-0.13444194846375254,0.47894614320629314,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1926966383468062e-12,-1.778642629977522e-11,1.833562553407161e-18],"object_linear_velocity_m_s":[4.554334181429746e-11,3.054012495611851e-12,6.319411511256519e-15],"object_angular_velocity_rad_s":[9.708248275070904e-11,-1.4477091794409585e-09,-3.857735694390413e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489877512933,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5704479791746664,-1.590052627547803,1.4666170124206948,-1.4731833533680188,-1.570779822900387,0.0003436109423845616,0.0],"actuator_force":[0.014569466870398173,-19.928164871395893,-19.720948613885867,-2.542573433061989,0.0017193663703665152,-0.0007291069510420578,-0.2922565865653188],"issued_joint_targets_rad":[-1.5704359722851595,-1.57982923753883,1.4728414022769876,-1.4640203668627372,-1.5707811776649072,0.000359992040052455],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.3000000000000002,"joint_targets_rad":[-1.5704359722851595,-1.57982923753883,1.4728414022769876,-1.4640203668627372,-1.5707811776649072,0.000359992040052455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.32000000000000023,"qpos":[-1.5705799474055606,-1.5771150210474307,1.5113234719895938,-1.5051707927040119,-1.5707856744906956,0.0002171397738853134,0.0029336024038068473,0.00015612123306703237,0.003194119330192796,-0.0034287717262473597,0.0029336279602523684,0.00015638932425151092,0.0031994829227822963,-0.003437267891060783,-0.13444194846317545,0.4789461432063318,0.2998922445797836,1.0,1.1717018024235598e-12,-1.7473139793634928e-11,1.8334162055458217e-18],"qvel":[0.0007021904454991728,-0.015437467860873631,-0.1953628072158355,0.2070720270100052,1.2831180963969775e-05,0.0007216074998152204,-0.00011334700876890207,-3.088150662269041e-05,-1.235840897180455e-05,0.00024175780934963126,-0.0001076460398664892,-5.103784002575574e-06,7.601640638606285e-05,0.00024353284984065903,2.131953812555892e-11,1.4296276695474763e-12,6.301370387106359e-15,-4.455731606206337e-11,6.644752130762374e-10,-4.1811508367848846e-21],"joint_position_rad":[-1.5705799474055606,-1.5771150210474307,1.5113234719895938,-1.5051707927040119,-1.5707856744906956,0.0002171397738853134],"joint_velocity_rad_s":[0.0007021904454991728,-0.015437467860873631,-0.1953628072158355,0.2070720270100052,1.2831180963969775e-05,0.0007216074998152204],"linkage_position_rad":[0.0029336024038068473,0.00015612123306703237,0.003194119330192796,-0.0034287717262473597,0.0029336279602523684,0.00015638932425151092,0.0031994829227822963,-0.003437267891060783],"tcp_position_m":[-0.1341084249904252,0.48847994570510755,0.35797980640520854],"tcp_quaternion_wxyz":[-6.247321756062487e-05,0.7071070472643137,0.7071065102164826,5.491545575373102e-05],"object_position_m":[-0.13444194846317545,0.4789461432063318,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1717018024235598e-12,-1.7473139793634928e-11,1.8334162055458217e-18],"object_linear_velocity_m_s":[2.131953812555892e-11,1.4296276695474763e-12,6.301370387106359e-15],"object_angular_velocity_rad_s":[-4.455731606206337e-11,6.644752130762374e-10,-4.181129651893688e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490786375257,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5704315958948987,-1.5901610735853344,1.462394140105456,-1.4688416304961047,-1.5707796743372417,0.00035998964735607777,0.0],"actuator_force":[0.015826843124159495,-19.91711793145805,-19.7135408819413,-2.5426215970469457,0.0017169586305953999,-0.0007358132461398603,-0.29225655295978387],"issued_joint_targets_rad":[-1.5704195917932913,-1.5799285427657808,1.4685966014401963,-1.459677079590927,-1.5707810303559304,0.0003763695155244841],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.32000000000000023,"joint_targets_rad":[-1.5704195917932913,-1.5799285427657808,1.4685966014401963,-1.459677079590927,-1.5707810303559304,0.0003763695155244841],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.34000000000000025,"qpos":[-1.570563747245563,-1.5773873713968591,1.507265199753767,-1.500849259793846,-1.5707852181728748,0.00023232577308783121,0.0029335017331826624,0.0001561201463572163,0.0031940253360218216,-0.0034286748049645733,0.0029335275501632977,0.00015639125535863674,0.0031994004066419036,-0.0034371681162514802,-0.1344419484625457,0.478946143206374,0.2998922445797836,1.0,1.2700545643070046e-12,-1.8939763156855665e-11,1.8332050792855525e-18],"qvel":[0.0006999684262458388,-0.01455644901386321,-0.1963012735313201,0.20718123930918314,1.132008934782826e-05,0.0007276255174497923,-0.00011237333588026829,-3.096645267259225e-05,-1.0608171004681787e-05,0.0002410554754056632,-0.00010661674756921581,-4.910190884945169e-06,7.877099996529933e-05,0.00024292915917674255,2.3643234675040318e-11,1.585456477500236e-12,6.2985948295447945e-15,-3.777182046322952e-11,5.632780107198121e-10,-7.636575311116649e-21],"joint_position_rad":[-1.570563747245563,-1.5773873713968591,1.507265199753767,-1.500849259793846,-1.5707852181728748,0.00023232577308783121],"joint_velocity_rad_s":[0.0006999684262458388,-0.01455644901386321,-0.1963012735313201,0.20718123930918314,1.132008934782826e-05,0.0007276255174497923],"linkage_position_rad":[0.0029335017331826624,0.0001561201463572163,0.0031940253360218216,-0.0034286748049645733,0.0029335275501632977,0.00015639125535863674,0.0031994004066419036,-0.0034371681162514802],"tcp_position_m":[-0.13411640196207442,0.48824907656141064,0.3596736529877164],"tcp_quaternion_wxyz":[-6.584980692798506e-05,0.7071066883981898,0.7071068685328159,5.7966043460166123e-05],"object_position_m":[-0.1344419484625457,0.478946143206374,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2700545643070046e-12,-1.8939763156855665e-11,1.8332050792855525e-18],"object_linear_velocity_m_s":[2.3643234675040318e-11,1.585456477500236e-12,6.2985948295447945e-15],"object_angular_velocity_rad_s":[-3.777182046322952e-11,5.632780107198121e-10,-7.636566361293397e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491494159783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5704152141589056,-1.5902518970116508,1.4581520446244085,-1.4644983399711888,-1.5707795254961734,0.0003763671357549094,0.0],"actuator_force":[0.017078802815831295,-19.90647162403775,-19.705800846188595,-2.5426640195896653,0.0017143294159041034,-0.0007418704114401653,-0.2922565137500506],"issued_joint_targets_rad":[-1.5704032125314384,-1.5800099819981632,1.4643322895642696,-1.4553321498101794,-1.570780882566187,0.00039274605194147664],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.34000000000000025,"joint_targets_rad":[-1.5704032125314384,-1.5800099819981632,1.4643322895642696,-1.4553321498101794,-1.570780882566187,0.00039274605194147664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.36000000000000026,"qpos":[-1.5705475332209473,-1.5776414971834007,1.50318744951122,-1.4965255045614996,-1.5707847912001105,0.00024762589281692723,0.0029334190891863567,0.0001561190520396111,0.0031939493394136996,-0.0034285949764099434,0.0029334451655585055,0.00015639317363351274,0.0031993358691697893,-0.0034370854355204802,-0.1344419484619253,0.47894614320641565,0.2998922445797836,1.0,1.3339872836223527e-12,-1.9893039777975174e-11,1.8329676474326457e-18],"qvel":[0.0006976826894477287,-0.01367726768560657,-0.1972398616620873,0.2072875216322914,9.959657168447204e-06,0.0007330623735945513,-0.00011158062041441479,-3.105154072658488e-05,-9.028952205687804e-06,0.00024052756894836513,-0.00010576813601477581,-4.715339058360685e-06,8.135956574471206e-05,0.00024250026763220038,2.626722125051058e-11,1.761428266202529e-12,6.290268156860105e-15,-2.413910469123669e-11,3.5997866480806564e-10,-1.3936446444061938e-20],"joint_position_rad":[-1.5705475332209473,-1.5776414971834007,1.50318744951122,-1.4965255045614996,-1.5707847912001105,0.00024762589281692723],"joint_velocity_rad_s":[0.0006976826894477287,-0.01367726768560657,-0.1972398616620873,0.2072875216322914,9.959657168447204e-06,0.0007330623735945513],"linkage_position_rad":[0.0029334190891863567,0.0001561190520396111,0.0031939493394136996,-0.0034285949764099434,0.0029334451655585055,0.00015639317363351274,0.0031993358691697893,-0.0034370854355204802],"tcp_position_m":[-0.13412437078012315,0.4880183329125646,0.3613673991194031],"tcp_quaternion_wxyz":[-6.887348825364726e-05,0.7071063649960702,0.7071071914185895,6.0684433200522875e-05],"object_position_m":[-0.1344419484619253,0.47894614320641565,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3339872836223527e-12,-1.9893039777975174e-11,1.8329676474326457e-18],"object_linear_velocity_m_s":[2.626722125051058e-11,1.761428266202529e-12,6.290268156860105e-15],"object_angular_velocity_rad_s":[-2.413910469123669e-11,3.5997866480806564e-10,-1.393643286125827e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492036935064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5703988336530603,-1.5903250644602291,1.4538906137932313,-1.4601534033118868,-1.570779376271887,0.00039274368365496947,0.0],"actuator_force":[0.018326059994706156,-19.896227479414392,-19.697726771142698,-2.5427015384228753,0.0017114983950250462,-0.0007473419404339932,-0.2922564689550971],"issued_joint_targets_rad":[-1.570386834218684,-1.580073520677414,1.4600483512005356,-1.4509854974346446,-1.5707807342074873,0.0004091219024289693],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.36000000000000026,"joint_targets_rad":[-1.570386834218684,-1.580073520677414,1.4600483512005356,-1.4509854974346446,-1.5707807342074873,0.0004091219024289693],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3800000000000003,"qpos":[-1.5705313064262978,-1.5778774303638146,1.499090208448247,-1.4921995759079318,-1.5707843907058188,0.00026302912717997463,0.002933351216275321,0.00015611795114083113,0.00319388810217722,-0.0034285291494572027,0.0029333775511304525,0.0001563950820364049,0.003199286079214804,-0.003437016756724366,-0.1344419484613202,0.47894614320645623,0.2998922445797836,1.0,1.355712924016561e-12,-2.0216785486823932e-11,1.832707299594161e-18],"qvel":[0.0006953385019700146,-0.012799583891474871,-0.19817908865627004,0.20739152500225155,8.735863336440197e-06,0.0007379749370282683,-0.00011093631142126429,-3.113679979071476e-05,-7.58825333352624e-06,0.0002401432180014948,-0.0001050676461243475,-4.519220518173378e-06,8.381473970881667e-05,0.00024221531790064163,2.9792390320421e-11,1.9978417373803263e-12,6.2930437144216675e-15,-1.4616763844067044e-12,2.1821866145916237e-11,-2.5443027838507118e-20],"joint_position_rad":[-1.5705313064262978,-1.5778774303638146,1.499090208448247,-1.4921995759079318,-1.5707843907058188,0.00026302912717997463],"joint_velocity_rad_s":[0.0006953385019700146,-0.012799583891474871,-0.19817908865627004,0.20739152500225155,8.735863336440197e-06,0.0007379749370282683],"linkage_position_rad":[0.002933351216275321,0.00015611795114083113,0.00319388810217722,-0.0034285291494572027,0.0029333775511304525,0.0001563950820364049,0.003199286079214804,-0.003437016756724366],"tcp_position_m":[-0.13413233164181898,0.4877877198046941,0.3630610452272973],"tcp_quaternion_wxyz":[-7.157838579287558e-05,0.707106073554894,0.7071074823789945,6.310273685896448e-05],"object_position_m":[-0.1344419484613202,0.47894614320645623,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.355712924016561e-12,-2.0216785486823932e-11,1.832707299594161e-18],"object_linear_velocity_m_s":[2.9792390320421e-11,1.9978417373803263e-12,6.2930437144216675e-15],"object_angular_velocity_rad_s":[-1.4616763844067044e-12,2.1821866145916237e-11,-2.5442960262416174e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492444248021,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570382454089854,-1.5903805406676395,1.4496097322082826,-1.4558067407369308,-1.570779226566658,0.00040911954431737085,0.0],"actuator_force":[0.019569272099488444,-19.886387051059955,-19.689317017420308,-2.542734914724633,0.0017084832467162414,-0.0007522851341287273,-0.29225641858256063],"issued_joint_targets_rad":[-1.570370456597097,-1.5801191221325166,1.4557446675364307,-1.446637041072032,-1.570780585197361,0.0004254972997305708],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.3800000000000003,"joint_targets_rad":[-1.570370456597097,-1.5801191221325166,1.4557446675364307,-1.446637041072032,-1.570780585197361,0.0004254972997305708],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4000000000000003,"qpos":[-1.5705150678496778,-1.5780951962722052,1.4949734536504353,-1.4878715102666158,-1.5707840140901497,0.0002785255476505072,0.002933295446448252,0.00015611684442758483,0.0031938389708383217,-0.0034284747907884585,0.0029333220390924362,0.00015639698312022154,0.0031992483898056023,-0.0034369595455700608,-0.13444194846073756,0.4789461432064954,0.2998922445797836,1.0,1.3196097698089543e-12,-1.967817342551831e-11,1.8324346793388294e-18],"qvel":[0.0006929406074818654,-0.01192308074164199,-0.19911943759558118,0.20749384409602487,7.636005551776669e-06,0.000742414531845807,-0.00011041373453469478,-3.1222256746067244e-05,-6.259418859898815e-06,0.00023987713077996557,-0.00010448859498766716,-4.321822537644816e-06,8.616332344815638e-05,0.0002420490352602197,3.5198268811225275e-11,2.360392782170429e-12,6.293043714421668e-15,3.345522520002107e-11,-4.988556892795688e-10,-4.64325094943329e-20],"joint_position_rad":[-1.5705150678496778,-1.5780951962722052,1.4949734536504353,-1.4878715102666158,-1.5707840140901497,0.0002785255476505072],"joint_velocity_rad_s":[0.0006929406074818654,-0.01192308074164199,-0.19911943759558118,0.20749384409602487,7.636005551776669e-06,0.000742414531845807],"linkage_position_rad":[0.002933295446448252,0.00015611684442758483,0.0031938389708383217,-0.0034284747907884585,0.0029333220390924362,0.00015639698312022154,0.0031992483898056023,-0.0034369595455700608],"tcp_position_m":[-0.13414028472951833,0.487557242508071,0.36475459171463054],"tcp_quaternion_wxyz":[-7.399535228697032e-05,0.7071058109141936,0.7071077445753989,6.524998127657563e-05],"object_position_m":[-0.13444194846073756,0.4789461432064954,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3196097698089543e-12,-1.967817342551831e-11,1.8324346793388294e-18],"object_linear_velocity_m_s":[3.5198268811225275e-11,2.360392782170429e-12,6.293043714421668e-15],"object_angular_velocity_rad_s":[3.345522520002107e-11,-4.988556892795688e-10,-4.643242372997753e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492740301502,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5703660752051805,-1.5904182883815476,1.4453092811172257,-1.451458271128334,-1.5707790762893683,0.0004254949506081467,0.0],"actuator_force":[0.020809046001431852,-19.876951922028184,-19.68057002818705,-2.5427648404615866,0.0017052998355211457,-0.0007567517057609219,-0.2922563626294226],"issued_joint_targets_rad":[-1.5703540794291861,-1.5801467474868778,1.4514211162552746,-1.4422866979826312,-1.570780435458281,0.00044187245851293254],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.4000000000000003,"joint_targets_rad":[-1.5703540794291861,-1.5801467474868778,1.4514211162552746,-1.4422866979826312,-1.570780435458281,0.00044187245851293254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4200000000000003,"qpos":[-1.5704988183821138,-1.5782948140500817,1.4908371527354467,-1.483541332669293,-1.5707836589949038,0.00029410619805440196,0.00293324959321576,0.00015611573245823221,0.0031937997711074277,-0.003428429824232901,0.0029332764431510366,0.0001563988790962752,0.003199220632671883,-0.0034369117249536344,-0.13444194846018787,0.4789461432065322,0.2998922445797836,1.0,1.2011150766355384e-12,-1.7911110063278115e-11,1.8321740952613948e-18],"qvel":[0.0006904932730419009,-0.011047461765761801,-0.20006136149297968,0.20759502283002765,6.648577635615829e-06,0.0007464274795205669,-0.00010999103170535805,-3.130793688864553e-05,-5.0205811259640996e-06,0.0002397085913264301,-0.0001040091155836079,-4.12312822044017e-06,8.842733999556255e-05,0.0002419807199449813,4.410093490788209e-11,2.9573418352402785e-12,6.2916559356408865e-15,8.515170694981208e-11,-1.2698436808903955e-09,-8.479426109021388e-20],"joint_position_rad":[-1.5704988183821138,-1.5782948140500817,1.4908371527354467,-1.483541332669293,-1.5707836589949038,0.00029410619805440196],"joint_velocity_rad_s":[0.0006904932730419009,-0.011047461765761801,-0.20006136149297968,0.20759502283002765,6.648577635615829e-06,0.0007464274795205669],"linkage_position_rad":[0.00293324959321576,0.00015611573245823221,0.0031937997711074277,-0.003428429824232901,0.0029332764431510366,0.0001563988790962752,0.003199220632671883,-0.0034369117249536344],"tcp_position_m":[-0.13414823021238292,0.48732690653482225,0.36644803896643197],"tcp_quaternion_wxyz":[-7.615228283905449e-05,0.7071055742224838,0.7071079808592712,6.71524046408624e-05],"object_position_m":[-0.13444194846018787,0.4789461432065322,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2011150766355384e-12,-1.7911110063278115e-11,1.8321740952613948e-18],"object_linear_velocity_m_s":[4.410093490788209e-11,2.9573418352402785e-12,6.2916559356408865e-15],"object_angular_velocity_rad_s":[8.515170694981208e-11,-1.2698436808903955e-09,-8.479439467988135e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492944919328,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5703496967557402,-1.5904382682589617,1.4409891382784972,-1.4471079119932992,-1.570778925354646,0.000441870117304482,0.0],"actuator_force":[0.022045943529974465,-19.867923711455205,-19.671484316707392,-2.542791945005888,0.0017019623653595772,-0.000760788327016676,-0.29225630108189504],"issued_joint_targets_rad":[-1.570337702495575,-1.5801563555532214,1.4470775713833524,-1.437934384037093,-1.5707802849169654,0.0004582475774798367],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.4200000000000003,"joint_targets_rad":[-1.570337702495575,-1.5801563555532214,1.4470775713833524,-1.437934384037093,-1.5707802849169654,0.0004582475774798367],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.44000000000000034,"qpos":[-1.5704825588261537,-1.578476297024742,1.4866812644107468,-1.4792090577055668,-1.5707833232807813,0.00030976299982561785,0.00293321186470535,0.00015611461562367105,0.0031937687213907397,-0.0034283925482736653,0.002933238971612823,0.00015640077188938586,0.003199201031806887,-0.0034368715924534003,-0.1344419484596243,0.4789461432065701,0.2998922445797836,1.0,1.1393209058036867e-12,-1.6989795941542244e-11,1.831852454961242e-18],"qvel":[0.0006880003310711235,-0.010172448440822443,-0.20100528687583893,0.20769555941579768,5.763158242451817e-06,0.0007500555881316421,-0.00010965029229749632,-3.139386454916109e-05,-3.853795336789275e-06,0.00023962063286289334,-0.00010361128783893912,-3.9231168888405955e-06,9.062489973407338e-05,0.0002419934239888804,2.084040850776816e-11,1.397538923462835e-12,6.2972070507640135e-15,-4.476464260533538e-11,6.675322480551266e-10,-9.186267655826696e-21],"joint_position_rad":[-1.5704825588261537,-1.578476297024742,1.4866812644107468,-1.4792090577055668,-1.5707833232807813,0.00030976299982561785],"joint_velocity_rad_s":[0.0006880003310711235,-0.010172448440822443,-0.20100528687583893,0.20769555941579768,5.763158242451817e-06,0.0007500555881316421],"linkage_position_rad":[0.00293321186470535,0.00015611461562367105,0.0031937687213907397,-0.0034283925482736653,0.002933238971612823,0.00015640077188938586,0.003199201031806887,-0.0034368715924534003],"tcp_position_m":[-0.13415616824794385,0.48709671765848395,0.36814138735501023],"tcp_quaternion_wxyz":[-7.807439870694853e-05,0.7071053609069174,0.7071081938027618,6.883372441605053e-05],"object_position_m":[-0.1344419484596243,0.4789461432065701,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1393209058036867e-12,-1.6989795941542244e-11,1.831852454961242e-18],"object_linear_velocity_m_s":[2.084040850776816e-11,1.397538923462835e-12,6.2972070507640135e-15],"object_angular_velocity_rad_s":[-4.476464260533538e-11,6.675322480551266e-10,-9.186285051333451e-21],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313493074336984,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5703333185166748,-1.5904404387535234,1.4366491778081374,-1.4427555794246105,-1.5707787736820922,0.0004582452432099407,0.0],"actuator_force":[0.0232804865295293,-19.85930408123386,-19.66205845488321,-2.542816801101708,0.0016984835203857074,-0.0007644371210027701,-0.2922562339152265],"issued_joint_targets_rad":[-1.5703213255928876,-1.5801479027151348,1.4427139031225618,-1.4335800136726602,-1.5707801335037506,0.00047462284128783807],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.44000000000000034,"joint_targets_rad":[-1.5703213255928876,-1.5801479027151348,1.4427139031225618,-1.4335800136726602,-1.5707801335037506,0.00047462284128783807],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.46000000000000035,"qpos":[-1.570466289903578,-1.5786396530397198,1.4825057389620975,-1.474874690386371,-1.5707830050067528,0.00032548866652812,0.002933180792447986,0.0001561134941807972,0.0031937443619138015,-0.003428361568434086,0.0029332081561724067,0.00015640266318356184,0.0031991881326369326,-0.0034368377527269397,-0.134441948459023,0.47894614320661033,0.2998922445797836,1.0,1.2073956520167263e-12,-1.800498212174861e-11,1.831388997901002e-18],"qvel":[0.0006854652170211318,-0.009297777896079332,-0.2019516170927268,0.20779591093810743,4.970309953194359e-06,0.0007533365937854508,-0.00010937684097964693,-3.148006344747597e-05,-2.7443299719370058e-06,0.0002395993632012199,-0.00010328042648395462,-3.7217643757106286e-06,9.277091013626115e-05,0.00024207327434286647,2.2550256277243316e-11,1.512198990625385e-12,6.299982608325577e-15,-3.691182111628051e-11,5.504378061819537e-10,-1.676057637591208e-20],"joint_position_rad":[-1.570466289903578,-1.5786396530397198,1.4825057389620975,-1.474874690386371,-1.5707830050067528,0.00032548866652812],"joint_velocity_rad_s":[0.0006854652170211318,-0.009297777896079332,-0.2019516170927268,0.20779591093810743,4.970309953194359e-06,0.0007533365937854508],"linkage_position_rad":[0.002933180792447986,0.0001561134941807972,0.0031937443619138015,-0.003428361568434086,0.0029332081561724067,0.00015640266318356184,0.0031991881326369326,-0.0034368377527269397],"tcp_position_m":[-0.1341640989835512,0.48686668193567634,0.36983463724539634],"tcp_quaternion_wxyz":[-7.978450390356096e-05,0.7071051686458957,0.7071083857262895,7.03153795600101e-05],"object_position_m":[-0.134441948459023,0.47894614320661033,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2073956520167263e-12,-1.800498212174861e-11,1.831388997901002e-18],"object_linear_velocity_m_s":[2.2550256277243316e-11,1.512198990625385e-12,6.299982608325577e-15],"object_angular_velocity_rad_s":[-3.691182111628051e-11,5.504378061819537e-10,-1.6760577306692275e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313493141849682,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5703169402794102,-1.5904247559903966,1.4322892700122347,-1.4384011880592178,-1.570778621195585,0.0004746205130711373,0.0],"actuator_force":[0.024513161527011107,-19.85109474292176,-19.652291062634504,-2.542839930234095,0.0016948745885656535,-0.0007677361070363986,-0.2922561610937016],"issued_joint_targets_rad":[-1.5703049485317166,-1.5801213427935568,1.4383299776665035,-1.4292234998474755,-1.570779981152019,0.0004909984223964723],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.46000000000000035,"joint_targets_rad":[-1.5703049485317166,-1.5801213427935568,1.4383299776665035,-1.4292234998474755,-1.570779981152019,0.0004909984223964723],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.48000000000000037,"qpos":[-1.5704500122623255,-1.5787848847405141,1.478310518677889,-1.4705382269203338,-1.5707827024113503,0.0003412766267488933,0.002933155173016359,0.0001561123682793219,0.0031937254966336822,-0.003428335741874658,0.00293318279355205,0.00015640455446003495,0.0031991807439758924,-0.003436809062097713,-0.13444194845843735,0.47894614320664974,0.2998922445797836,1.0,1.2547943243794809e-12,-1.8711713642422407e-11,1.8308674148981382e-18],"qvel":[0.0006828910036122996,-0.008423200769897898,-0.20290073538011372,0.20789649750292372,4.261487793916088e-06,0.0007563045594246996,-0.00010915865417547349,-3.156655717083209e-05,-1.680085722621303e-06,0.00023963340992666108,-0.00010300449745813488,-3.519043174334213e-06,9.487765801190634e-05,0.00024220891977900095,2.4739955158685104e-11,1.6590456716070386e-12,6.2972070507640135e-15,-2.3355069369494504e-11,3.482801880483836e-10,-3.061420515641584e-20],"joint_position_rad":[-1.5704500122623255,-1.5787848847405141,1.478310518677889,-1.4705382269203338,-1.5707827024113503,0.0003412766267488933],"joint_velocity_rad_s":[0.0006828910036122996,-0.008423200769897898,-0.20290073538011372,0.20789649750292372,4.261487793916088e-06,0.0007563045594246996],"linkage_position_rad":[0.002933155173016359,0.0001561123682793219,0.0031937254966336822,-0.003428335741874658,0.00293318279355205,0.00015640455446003495,0.0031991807439758924,-0.003436809062097713],"tcp_position_m":[-0.13417202255772795,0.4866368057301848,0.3715277890007982],"tcp_quaternion_wxyz":[-8.130321720486102e-05,0.7071049953443329,0.7071085587234247,7.161674948624237e-05],"object_position_m":[-0.13444194845843735,0.47894614320664974,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2547943243794809e-12,-1.8711713642422407e-11,1.8308674148981382e-18],"object_linear_velocity_m_s":[2.4739955158685104e-11,1.6590456716070386e-12,6.2972070507640135e-15],"object_angular_velocity_rad_s":[-2.3355069369494504e-11,3.482801880483836e-10,-3.0614191890183766e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313493158343386,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570300561849589,-1.5903911736269867,1.4279092812028624,-1.4340446510346707,-1.5707784678226455,0.0004909960994288748,0.0],"actuator_force":[0.02574442402828936,-19.84329746498588,-19.642180798007757,-2.542861807460895,0.0016911455729768932,-0.0007707196024792085,-0.29225608257025243],"issued_joint_targets_rad":[-1.570288571134734,-1.580076626896207,1.4339256569975822,-1.4248647539926007,-1.5707798277976754,0.0005073744827957499],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.48000000000000037,"joint_targets_rad":[-1.570288571134734,-1.580076626896207,1.4339256569975822,-1.4248647539926007,-1.5707798277976754,0.0005073744827957499],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5000000000000003,"qpos":[-1.5704337264827042,-1.5789119898183177,1.4740955382136518,-1.4661996554111607,-1.5707824138957005,0.0003571209545481395,0.0029331340201958988,0.00015611123798371057,0.003193711145638991,-0.0034283141319866243,0.00293316189767384,0.0001564064470292889,0.0031991778904610422,-0.0034367845831390336,-0.13444194845783566,0.47894614320669004,0.2998922445797836,1.0,1.3409043200289807e-12,-1.9995656108033086e-11,1.8302154363215984e-18],"qvel":[0.0006802804315098673,-0.007548479194421585,-0.20385300772319317,0.20799770599802375,3.6289563356223105e-06,0.0007589902348464152,-0.00010898588187057694,-3.165336943796629e-05,-6.511185193622945e-07,0.00023971346853916278,-0.00010277363967564698,-3.3149226781251874e-06,9.695528697381568e-05,0.00024239107752666687,2.861496691233737e-11,1.918914708751069e-12,6.2985948295447945e-15,-4.260800511233254e-12,6.354716234941513e-11,-5.590578295788607e-20],"joint_position_rad":[-1.5704337264827042,-1.5789119898183177,1.4740955382136518,-1.4661996554111607,-1.5707824138957005,0.0003571209545481395],"joint_velocity_rad_s":[0.0006802804315098673,-0.007548479194421585,-0.20385300772319317,0.20799770599802375,3.6289563356223105e-06,0.0007589902348464152],"linkage_position_rad":[0.0029331340201958988,0.00015611123798371057,0.003193711145638991,-0.0034283141319866243,0.00293316189767384,0.0001564064470292889,0.0031991778904610422,-0.0034367845831390336],"tcp_position_m":[-0.13417993910143827,0.4864070957398145,0.3732208429881437],"tcp_quaternion_wxyz":[-8.264918192888115e-05,0.7071048391113242,0.7071087146833361,7.275535200761008e-05],"object_position_m":[-0.13444194845783566,0.47894614320669004,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3409043200289807e-12,-1.9995656108033086e-11,1.8302154363215984e-18],"object_linear_velocity_m_s":[2.861496691233737e-11,1.918914708751069e-12,6.2985948295447945e-15],"object_angular_velocity_rad_s":[-4.260800511233254e-12,6.354716234941513e-11,-5.590575663238134e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313493132729889,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5702841830451477,-1.5903396426974323,1.4235090734950708,-1.4296858799430547,-1.5707783134938573,0.00050737216434648,0.0],"actuator_force":[0.026974702509050985,-19.835914080460498,-19.631726347884523,-2.5428828657494478,0.0016873052881010153,-0.0007734185854713083,-0.2922559982857558],"issued_joint_targets_rad":[-1.570272193235058,-1.5800137032475265,1.4295007986621855,-1.4205036859612794,-1.5707796733786668,0.000523751175488054],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5000000000000003,"joint_targets_rad":[-1.570272193235058,-1.5800137032475265,1.4295007986621855,-1.4205036859612794,-1.5707796733786668,0.000523751175488054],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5200000000000004,"qpos":[-1.5704174330829521,-1.579020961213978,1.4698607249004136,-1.4618589564833453,-1.570782138008139,0.0003730163067192955,0.0029331165257873216,0.00015611010328995685,0.003193700506137294,-0.003428295971169489,0.0029331446604632955,0.00015640834205744373,0.003199178773576033,-0.003436763547458375,-0.13444194845724333,0.47894614320672974,0.2998922445797836,1.0,1.3523014704556747e-12,-2.0165572215498324e-11,1.8295226884246696e-18],"qvel":[0.0006776359361324137,-0.006673384884289782,-0.20480878554407603,0.20809989350546876,3.065714573846099e-06,0.0007614213810832656,-0.0001088504557630515,-3.174052458895143e-05,3.507507709952042e-07,0.00023983192836561122,-0.00010257977310076852,-3.10936907680561e-06,9.901218912989236e-05,0.00024261216143053004,3.4157492468365594e-11,2.290594952478901e-12,6.301370387106357e-15,2.661790590062442e-11,-3.9692550454315903e-10,-1.0207433676597512e-19],"joint_position_rad":[-1.5704174330829521,-1.579020961213978,1.4698607249004136,-1.4618589564833453,-1.570782138008139,0.0003730163067192955],"joint_velocity_rad_s":[0.0006776359361324137,-0.006673384884289782,-0.20480878554407603,0.20809989350546876,3.065714573846099e-06,0.0007614213810832656],"linkage_position_rad":[0.0029331165257873216,0.00015611010328995685,0.003193700506137294,-0.003428295971169489,0.0029331446604632955,0.00015640834205744373,0.003199178773576033,-0.003436763547458375],"tcp_position_m":[-0.13418784873928233,0.4861775590264261,0.37491379958378734],"tcp_quaternion_wxyz":[-8.383925561687697e-05,0.7071046982399791,0.70710885531105,7.374702228368549e-05],"object_position_m":[-0.13444194845724333,0.47894614320672974,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3523014704556747e-12,-2.0165572215498324e-11,1.8295226884246696e-18],"object_linear_velocity_m_s":[3.4157492468365594e-11,2.290594952478901e-12,6.301370387106357e-15],"object_angular_velocity_rad_s":[2.661790590062442e-11,-3.9692550454315903e-10,-1.0207433204555651e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349307230342,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570267803694651,-1.5902701114383957,1.4190885045820005,-1.4253247847819852,-1.5707781581423348,0.0005237488608924594,0.0],"actuator_force":[0.028204402149640373,-19.828946495119,-19.620926419196167,-2.5429034998668385,0.0016833614447477885,-0.0007758610217445949,-0.29225590816821173],"issued_joint_targets_rad":[-1.5702558146745609,-1.5799325169960774,1.4250552555203355,-1.416140203974946,-1.5707795178345276,0.0005401286460422275],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5200000000000004,"joint_targets_rad":[-1.5702558146745609,-1.5799325169960774,1.4250552555203355,-1.416140203974946,-1.5707795178345276,0.0005401286460422275],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5400000000000004,"qpos":[-1.5704011325241751,-1.5791117872839109,1.4656059989998793,-1.4575161038427553,-1.5707818734302517,0.00038895786621156314,0.00293310202748384,0.0001561089641399086,0.003193692920486391,-0.003428280630344406,0.0029331304197274415,0.00015641024058879365,0.0031991827397140054,-0.0034367453252016106,-0.13444194845667307,0.478946143206768,0.2998922445797836,1.0,1.2708282199232427e-12,-1.895063279684938e-11,1.82884042407852e-18],"qvel":[0.0006749596722097645,-0.005797697305022599,-0.20576840825059645,0.20820339040147132,2.5654279147809634e-06,0.0007636230640226896,-0.0001087457681372669,-3.1828047737348045e-05,1.3322571408122075e-06,0.0002399825700932511,-0.00010241627756787658,-2.9023454725364297e-06,0.00010105532689983846,0.00024286597779786312,4.263068758838465e-11,2.8588159786487226e-12,6.30414594466792e-15,7.427671425880565e-11,-1.1076141317781633e-09,-1.8634417362491553e-19],"joint_position_rad":[-1.5704011325241751,-1.5791117872839109,1.4656059989998793,-1.4575161038427553,-1.5707818734302517,0.00038895786621156314],"joint_velocity_rad_s":[0.0006749596722097645,-0.005797697305022599,-0.20576840825059645,0.20820339040147132,2.5654279147809634e-06,0.0007636230640226896],"linkage_position_rad":[0.00293310202748384,0.0001561089641399086,0.003193692920486391,-0.003428280630344406,0.0029331304197274415,0.00015641024058879365,0.0031991827397140054,-0.0034367453252016106],"tcp_position_m":[-0.13419575159063601,0.48594820304965086,0.3766066591794549],"tcp_quaternion_wxyz":[-8.488868154264433e-05,0.7071045711892002,0.7071089821457383,7.460607459067486e-05],"object_position_m":[-0.13444194845667307,0.478946143206768,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2708282199232427e-12,-1.895063279684938e-11,1.82884042407852e-18],"object_linear_velocity_m_s":[4.263068758838465e-11,2.8588159786487226e-12,6.30414594466792e-15],"object_angular_velocity_rad_s":[7.427671425880565e-11,-1.1076141317781633e-09,-1.863441667412642e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492983032816,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5702514236355716,-1.590182525093066,1.4146474274845084,-1.420961273902176,-1.5707780017032227,0.0005401263346952736,0.0],"actuator_force":[0.029433908322971547,-19.822396696300984,-19.609779730503305,-2.542924069857463,0.0016793207230421103,-0.0007780721604137009,-0.29225581213203833],"issued_joint_targets_rad":[-1.570239435302392,-1.579833009995838,1.4205888754656293,-1.4117742145653922,-1.570779361105953,0.0005565070339453535],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5400000000000004,"joint_targets_rad":[-1.570239435302392,-1.579833009995838,1.4205888754656293,-1.4117742145653922,-1.570779361105953,0.0005565070339453535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5600000000000004,"qpos":[-1.5703848252147257,-1.5791844519291907,1.4613312739087085,-1.4531710647779748,-1.570781618964213,0.0004049412911061214,0.0029330899825459277,0.00015610782043202958,0.0031936878499958985,-0.0034282675939548563,0.0029331186328303187,0.00015641214356420716,0.0031991892540052854,-0.0034367294000482874,-0.13444194845611304,0.47894614320680556,0.2998922445797836,1.0,1.154946130346146e-12,-1.7222568473116817e-11,1.8281335691854735e-18],"qvel":[0.000672253534882875,-0.004921201896719177,-0.20673220567831985,0.20830850317620755,2.122366603431628e-06,0.0007656179189526404,-0.00010866640881620226,-3.1915965216589924e-05,2.29895408002576e-06,0.00024016031565945087,-0.00010227772964438583,-2.69381171066814e-06,0.00010309049750496185,0.00024314747654230275,2.1054439713377024e-11,1.41191062840872e-12,6.298594829544794e-15,-4.719825865489332e-11,7.03826107598748e-10,-2.0188310515524514e-20],"joint_position_rad":[-1.5703848252147257,-1.5791844519291907,1.4613312739087085,-1.4531710647779748,-1.570781618964213,0.0004049412911061214],"joint_velocity_rad_s":[0.000672253534882875,-0.004921201896719177,-0.20673220567831985,0.20830850317620755,2.122366603431628e-06,0.0007656179189526404],"linkage_position_rad":[0.0029330899825459277,0.00015610782043202958,0.0031936878499958985,-0.0034282675939548563,0.0029331186328303187,0.00015641214356420716,0.0031991892540052854,-0.0034367294000482874],"tcp_position_m":[-0.13420364777074947,0.4857190357048702,0.37829942218852775],"tcp_quaternion_wxyz":[-8.58112438016706e-05,0.7071044565672168,0.7071090965772354,7.534544856979477e-05],"object_position_m":[-0.13444194845611304,0.47894614320680556,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.154946130346146e-12,-1.7222568473116817e-11,1.8281335691854735e-18],"object_linear_velocity_m_s":[2.1054439713377024e-11,1.41191062840872e-12,6.298594829544794e-15],"object_angular_velocity_rad_s":[-4.719825865489332e-11,7.03826107598748e-10,-2.0188298519700542e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492869800921,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5702350427127858,-1.5900768256897888,1.4101856902711238,-1.4165952539510123,-1.5707778441132263,0.0005565047252957368,0.0],"actuator_force":[0.03066358992646201,-19.816266762508803,-19.598285003841283,-2.5429449041394037,0.0016751888330190923,-0.0007800748004563318,-0.29225571007650936],"issued_joint_targets_rad":[-1.5702230549735707,-1.5797151205569075,1.4161015011102205,-1.4074056225123872,-1.5707792031343915,0.0005728864739013714],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5600000000000004,"joint_targets_rad":[-1.5702230549735707,-1.5797151205569075,1.4161015011102205,-1.4074056225123872,-1.5707792031343915,0.0005728864739013714],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5800000000000004,"qpos":[-1.570368511514047,-1.5792389346885145,1.4570364563134952,-1.448823800607628,-1.5707813735212979,0.00042096266860788654,0.002933079946227799,0.00015610667203008727,0.0031936848534551425,-0.003428256439488994,0.002933108855120078,0.0001564140518369936,0.0031991978788740182,-0.0034367153487274253,-0.1344419484554875,0.47894614320684753,0.2998922445797836,1.0,1.2337579409457755e-12,-1.839778526242644e-11,1.8269862510929527e-18],"qvel":[0.0006695191781453108,-0.004043688326643082,-0.2077005004603096,0.20841551700348412,1.7313500176525554e-06,0.000767426389505216,-0.00010860794962450932,-3.200430487555323e-05,3.2554294000119814e-06,0.0002403610240328849,-0.00010215968699521187,-2.4837242648546223e-06,0.00010512255001062507,0.00024345254734136249,2.2849054853886372e-11,1.5322611610061785e-12,6.301370387106356e-15,-4.054772808989767e-11,6.046479620221686e-10,-3.685759019490428e-20],"joint_position_rad":[-1.570368511514047,-1.5792389346885145,1.4570364563134952,-1.448823800607628,-1.5707813735212979,0.00042096266860788654],"joint_velocity_rad_s":[0.0006695191781453108,-0.004043688326643082,-0.2077005004603096,0.20841551700348412,1.7313500176525554e-06,0.000767426389505216],"linkage_position_rad":[0.002933079946227799,0.00015610667203008727,0.0031936848534551425,-0.003428256439488994,0.002933108855120078,0.0001564140518369936,0.0031991978788740182,-0.0034367153487274253],"tcp_position_m":[-0.13421153739180955,0.48549006536616013,0.3799920890527676],"tcp_quaternion_wxyz":[-8.661940755178333e-05,0.7071043531167014,0.7071091998609611,7.597684144729873e-05],"object_position_m":[-0.1344419484554875,0.47894614320684753,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2337579409457755e-12,-1.839778526242644e-11,1.8269862510929527e-18],"object_linear_velocity_m_s":[2.2849054853886372e-11,1.5322611610061785e-12,6.301370387106356e-15],"object_angular_velocity_rad_s":[-4.054772808989767e-11,6.046479620221686e-10,-3.685758853421561e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492736600762,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5702186607771407,-1.5899529517908246,1.4057031357430834,-1.4122266298114374,-1.5707776853101663,0.0005728841674461922,0.0],"actuator_force":[0.031893802554805006,-19.810558873963146,-19.58644095669979,-2.5429663022532623,0.001670970563964147,-0.0007818895313687624,-0.2922556018842952],"issued_joint_targets_rad":[-1.5702066735476818,-1.579578783160178,1.4115929694285423,-1.4030343307759212,-1.570779043861642,0.000589267097023299],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5800000000000004,"joint_targets_rad":[-1.5702066735476818,-1.579578783160178,1.4115929694285423,-1.4030343307759212,-1.570779043861642,0.000589267097023299],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6000000000000004,"qpos":[-1.5703521913580878,-1.579275211905821,1.4527214855022275,-1.44447426699412,-1.5707811360925974,0.0004370184733003599,0.0029330715661987183,0.00015610559277731093,0.003193683319779891,-0.0034282471400883838,0.0029331007193850412,0.00015641596760662948,0.0031992077615221105,-0.00343670314761055,-0.13444194845487645,0.47894614320688844,0.2998922445797836,1.0,1.2914635829026453e-12,-1.9258232229412834e-11,1.825689775373556e-18],"qvel":[0.0006667296695463552,-0.0031647002347470494,-0.20867368492321156,0.20852476819739613,1.3927043209049423e-06,0.0007690669129025214,-0.00010855641327084336,-3.2095233670928456e-05,4.233777378383551e-06,0.00024055998801961263,-0.00010204744603855371,-2.2634015512865627e-06,0.0001072243287128251,0.00024376762802759947,2.5009061620447757e-11,1.677117153810761e-12,6.295819271983229e-15,-2.83023905702339e-11,4.220465535547917e-10,-6.728957005873336e-20],"joint_position_rad":[-1.5703521913580878,-1.579275211905821,1.4527214855022275,-1.44447426699412,-1.5707811360925974,0.0004370184733003599],"joint_velocity_rad_s":[0.0006667296695463552,-0.0031647002347470494,-0.20867368492321156,0.20852476819739613,1.3927043209049423e-06,0.0007690669129025214],"linkage_position_rad":[0.0029330715661987183,0.00015610559277731093,0.003193683319779891,-0.0034282471400883838,0.0029331007193850412,0.00015641596760662948,0.0031992077615221105,-0.00343670314761055],"tcp_position_m":[-0.13421942074849955,0.48526129253189587,0.38168464161195637],"tcp_quaternion_wxyz":[-8.731094842779637e-05,0.7071042595692498,0.7071092932665919,7.649732869405415e-05],"object_position_m":[-0.13444194845487645,0.47894614320688844,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2914635829026453e-12,-1.9258232229412834e-11,1.825689775373556e-18],"object_linear_velocity_m_s":[2.5009061620447757e-11,1.677117153810761e-12,6.295819271983229e-15],"object_angular_velocity_rad_s":[-2.83023905702339e-11,4.220465535547917e-10,-6.728956257082042e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492594858187,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5702022776925904,-1.5898108381565053,1.40119960106094,-1.407855304424704,-1.5707775252322482,0.0005892647922528754,0.0],"actuator_force":[0.0331354631762224,-19.80537240746935,-19.574294913290487,-2.5429955350316504,0.0016661597423990315,-0.0007835318139943759,-0.292255594982641],"issued_joint_targets_rad":[-1.5701902906875471,-1.579423945404448,1.40706317515772,-1.3986602867392763,-1.5707788832384826,0.0006056492319070209],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6000000000000004,"joint_targets_rad":[-1.5701902906875471,-1.579423945404448,1.40706317515772,-1.3986602867392763,-1.5707788832384826,0.0006056492319070209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6200000000000004,"qpos":[-1.5703358648619212,-1.5792932561763633,1.4483863155826144,-1.4401224180013932,-1.5707809057645534,0.000453105548335683,0.002933064594194054,0.0001561046260780766,0.0031936828500894847,-0.003428239653790084,0.0029330939709011857,0.00015641790149030377,0.003199218387914072,-0.0034366927646758503,-0.1344419484542827,0.47894614320692824,0.2998922445797836,1.0,1.3172835700345875e-12,-1.9643346222953285e-11,1.8242568018334226e-18],"qvel":[0.0006638681857588938,-0.0022839703309946455,-0.20965198947652827,0.2086363268587998,1.1037680508957529e-06,0.0007705570860213098,-0.00010850376993185171,-3.219109395764667e-05,5.253657627918418e-06,0.00024075195488877082,-0.0001019325603323262,-2.0299444678055206e-06,0.00010943515801472779,0.00024409241595466894,2.7990540838880058e-11,1.877038566451235e-12,6.3027581658871374e-15,-8.327232247957422e-12,1.2416715265425438e-10,-1.228695045885816e-19],"joint_position_rad":[-1.5703358648619212,-1.5792932561763633,1.4483863155826144,-1.4401224180013932,-1.5707809057645534,0.000453105548335683],"joint_velocity_rad_s":[0.0006638681857588938,-0.0022839703309946455,-0.20965198947652827,0.2086363268587998,1.1037680508957529e-06,0.0007705570860213098],"linkage_position_rad":[0.002933064594194054,0.0001561046260780766,0.0031936828500894847,-0.003428239653790084,0.0029330939709011857,0.00015641790149030377,0.003199218387914072,-0.0034366927646758503],"tcp_position_m":[-0.13422729802296196,0.48503271500757134,0.38337705196401406],"tcp_quaternion_wxyz":[-8.787647484813768e-05,0.7071041748509399,0.7071093778708946,7.689689285570098e-05],"object_position_m":[-0.1344419484542827,0.47894614320692824,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3172835700345875e-12,-1.9643346222953285e-11,1.8242568018334226e-18],"object_linear_velocity_m_s":[2.7990540838880058e-11,1.877038566451235e-12,6.3027581658871374e-15],"object_angular_velocity_rad_s":[-8.327232247957422e-12,1.2416715265425438e-10,-1.228695273005739e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492451549314,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5701858931245525,-1.5896504327572445,1.3966749811475212,-1.4034812250835484,-1.570777363827047,0.0006056469282734959,0.0],"actuator_force":[0.03439620043400282,-19.80076502936481,-19.56187307957498,-2.543036226957611,0.00166059194805257,-0.0007850186332245546,-0.2922557466034411],"issued_joint_targets_rad":[-1.5701739062556772,-1.579250557235146,1.402512037964548,-1.3942834602703364,-1.5707787212188389,0.0006220330089031661],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6200000000000004,"joint_targets_rad":[-1.5701739062556772,-1.579250557235146,1.402512037964548,-1.3942834602703364,-1.5707787212188389,0.0006220330089031661],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6400000000000005,"qpos":[-1.570319532884515,-1.5792930354511032,1.4440308392203345,-1.4357682089248331,-1.5707806817447838,0.0004692210534012366,0.0029330588284433895,0.00015610366572618085,0.003193683617572702,-0.0034282333525852927,0.0029330884306191817,0.00015641985647536763,0.0031992302971349065,-0.003436683571254761,-0.1344419484537107,0.4789461432069666,0.2998922445797836,1.0,1.2949965135082425e-12,-1.931117896897677e-11,1.8227344592317266e-18],"qvel":[0.000660975566875923,-0.0014017554958054707,-0.21063545565701228,0.20875001562284534,8.527956877234323e-07,0.000771911964392653,-0.0001084633027570958,-3.22893889954626e-05,6.277010253279888e-06,0.0002409706141337635,-0.00010182934778617368,-1.796840138110294e-06,0.00011165703772105555,0.0002444441630051898,3.2578742117517475e-11,2.184698451178528e-12,6.29581927198323e-15,2.2378257463781157e-11,-3.3373257404537085e-10,-2.243005923072968e-19],"joint_position_rad":[-1.570319532884515,-1.5792930354511032,1.4440308392203345,-1.4357682089248331,-1.5707806817447838,0.0004692210534012366],"joint_velocity_rad_s":[0.000660975566875923,-0.0014017554958054707,-0.21063545565701228,0.20875001562284534,8.527956877234323e-07,0.000771911964392653],"linkage_position_rad":[0.0029330588284433895,0.00015610366572618085,0.003193683617572702,-0.0034282333525852927,0.0029330884306191817,0.00015641985647536763,0.0031992302971349065,-0.003436683571254761],"tcp_position_m":[-0.1342351690122658,0.48480434453683446,0.3850693195832],"tcp_quaternion_wxyz":[-8.832707784251516e-05,0.7071040982601776,0.7071094543734365,7.718606669231105e-05],"object_position_m":[-0.1344419484537107,0.4789461432069666,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2949965135082425e-12,-1.931117896897677e-11,1.8227344592317266e-18],"object_linear_velocity_m_s":[3.2578742117517475e-11,2.184698451178528e-12,6.29581927198323e-15],"object_angular_velocity_rad_s":[2.2378257463781157e-11,-3.3373257404537085e-10,-2.243006562771687e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492296611679,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5701695069217179,-1.589471686062023,1.3921291958862088,-1.3991043617261048,-1.5707772010461596,0.0006220307058943647,0.0],"actuator_force":[0.03566169884379633,-19.7965990235175,-19.549104405446542,-2.5430779629203926,0.001655069743264903,-0.0007863701927012245,-0.2922558997004122],"issued_joint_targets_rad":[-1.570157520560549,-1.5790585364514593,1.3979393752189895,-1.3899037514271444,-1.5707785577406912,0.0006384181136913495],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6400000000000005,"joint_targets_rad":[-1.570157520560549,-1.5790585364514593,1.3979393752189895,-1.3899037514271444,-1.5707785577406912,0.0006384181136913495],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6600000000000005,"qpos":[-1.5703031956386613,-1.579274515244035,1.4396549428643504,-1.4314115909240104,-1.5707804632926698,0.0004853623920930344,0.0029330540537880283,0.00015610270140932372,0.0031936854341047126,-0.00342822797279827,0.002933083881930849,0.0001564218186011328,0.003199243295721525,-0.0034366752901197808,-0.134441948453138,0.478946143207005,0.2998922445797836,1.0,1.2814495103597902e-12,-1.9109381447278992e-11,1.8209664475122252e-18],"qvel":[0.0006580571161982063,-0.0005178365286038384,-0.21162444150026766,0.20886608792968703,6.375177259833305e-07,0.0007731430645374311,-0.00010843347159573138,-3.2388362851558806e-05,7.303063987380615e-06,0.00024120319964701387,-0.00010173630564408722,-1.5618655398208127e-06,0.00011389091893385366,0.00024481107819553056,4.043608701573317e-11,2.7115693356854735e-12,6.290268156860103e-15,6.679476649034196e-11,-9.961149836746387e-10,-4.095006326085295e-19],"joint_position_rad":[-1.5703031956386613,-1.579274515244035,1.4396549428643504,-1.4314115909240104,-1.5707804632926698,0.0004853623920930344],"joint_velocity_rad_s":[0.0006580571161982063,-0.0005178365286038384,-0.21162444150026766,0.20886608792968703,6.375177259833305e-07,0.0007731430645374311],"linkage_position_rad":[0.0029330540537880283,0.00015610270140932372,0.0031936854341047126,-0.00342822797279827,0.002933083881930849,0.0001564218186011328,0.003199243295721525,-0.0034366752901197808],"tcp_position_m":[-0.13424303381509806,0.4845761931556892,0.38676144481983743],"tcp_quaternion_wxyz":[-8.867370490226953e-05,0.7071040289530743,0.7071095236159459,7.737527470511334e-05],"object_position_m":[-0.134441948453138,0.478946143207005,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2814495103597902e-12,-1.9109381447278992e-11,1.8209664475122252e-18],"object_linear_velocity_m_s":[4.043608701573317e-11,2.7115693356854735e-12,6.290268156860103e-15],"object_angular_velocity_rad_s":[6.679476649034196e-11,-9.961149836746387e-10,-4.0950076138162157e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492131168831,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5701531193871368,-1.5892745163880433,1.387562062872246,-1.3947246144965542,-1.5707770368251366,0.0006384158108367085,0.0],"actuator_force":[0.036929656569554936,-19.792867676575042,-19.535983384101655,-2.543120579240508,0.0016494819940362504,-0.0007875970819060663,-0.2922560478997448],"issued_joint_targets_rad":[-1.5701411335107769,-1.5788477954426356,1.3933449945730434,-1.3855210559760323,-1.5707783927391985,0.0006548046314345727],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6600000000000005,"joint_targets_rad":[-1.5701411335107769,-1.5788477954426356,1.3933449945730434,-1.3855210559760323,-1.5707783927391985,0.0006548046314345727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6800000000000005,"qpos":[-1.5702868532684489,-1.5792376561568557,1.4352585055246123,-1.4270525099254667,-1.5707802497275078,0.0005015272231338467,0.0029330500910231243,0.00015610173301411665,0.0031936881260624366,-0.0034282233458608263,0.002933080145472389,0.00015642378822961612,0.0031992572128236524,-0.0034366677500022296,-0.1344419484525956,0.4789461432070415,0.2998922445797836,1.0,1.1388517392357661e-12,-1.69830870777308e-11,1.8194131136530236e-18],"qvel":[0.0006551134725771874,0.00036803072930468775,-0.21261930705623958,0.20898479618755103,4.549279561328182e-07,0.0007742626415347002,-0.0001084125808608024,-3.248805741309323e-05,8.333392021520058e-06,0.00024144821400020805,-0.00010165167641790605,-1.324855014681062e-06,0.00011613896806589783,0.0002451913631619848,2.0665648670995613e-11,1.3858006664310797e-12,6.291655935640885e-15,-4.750110354995477e-11,7.083506115800731e-10,-4.436704387768273e-20],"joint_position_rad":[-1.5702868532684489,-1.5792376561568557,1.4352585055246123,-1.4270525099254667,-1.5707802497275078,0.0005015272231338467],"joint_velocity_rad_s":[0.0006551134725771874,0.00036803072930468775,-0.21261930705623958,0.20898479618755103,4.549279561328182e-07,0.0007742626415347002],"linkage_position_rad":[0.0029330500910231243,0.00015610173301411665,0.0031936881260624366,-0.0034282233458608263,0.002933080145472389,0.00015642378822961612,0.0031992572128236524,-0.0034366677500022296],"tcp_position_m":[-0.13425089254952433,0.48434827376010786,0.3884534281756086],"tcp_quaternion_wxyz":[-8.89263257145955e-05,0.7071039661517056,0.7071095863742862,7.747400553187972e-05],"object_position_m":[-0.1344419484525956,0.4789461432070415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1388517392357661e-12,-1.69830870777308e-11,1.8194131136530236e-18],"object_linear_velocity_m_s":[2.0665648670995613e-11,1.3858006664310797e-12,6.291655935640885e-15],"object_angular_velocity_rad_s":[-4.750110354995477e-11,7.083506115800731e-10,-4.436706198146374e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491956756845,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5701367304249514,-1.5890588367264775,1.3829733899979013,-1.3903418792396982,-1.5707768710968575,0.0006548023283018469,0.0],"actuator_force":[0.03820029796406743,-19.789573430965447,-19.522508230926178,-2.543164275870936,0.0016438225295587472,-0.0007887115694699132,-0.2922561905383821],"issued_joint_targets_rad":[-1.5701247449961224,-1.5786182400962054,1.3887286946843054,-1.381135267192885,-1.5707782261477026,0.0006711926666890569],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6800000000000005,"joint_targets_rad":[-1.5701247449961224,-1.5786182400962054,1.3887286946843054,-1.381135267192885,-1.5707782261477026,0.0006711926666890569],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7000000000000005,"qpos":[-1.5702705058835182,-1.5791824136091017,1.4308413986640933,-1.4226909068357771,-1.570780040426968,0.0005177134395915418,0.002933046793035896,0.00015610076027866522,0.0031936915481659916,-0.00342821933210437,0.002933077074170484,0.0001564257659231049,0.0031992719062921547,-0.0034366608104022963,-0.13444194845195387,0.47894614320708445,0.2998922445797836,1.0,1.2434154425331854e-12,-1.8542696881929752e-11,1.816577515790479e-18],"qvel":[0.0006521447547746442,0.00125609888328648,-0.21362041889605055,0.2091063803101291,3.022726861951021e-07,0.0007752818652554652,-0.00010839919999210545,-3.258852631017645e-05,9.369717605313762e-06,0.00024170444283125572,-0.00010157400386335687,-1.0857243438292352e-06,0.0001184034111172647,0.0002455838770276545,2.28314108653551e-11,1.531007474958315e-12,6.291655935640885e-15,-4.2953755807760984e-11,6.405443299726252e-10,-8.09898334245019e-20],"joint_position_rad":[-1.5702705058835182,-1.5791824136091017,1.4308413986640933,-1.4226909068357771,-1.570780040426968,0.0005177134395915418],"joint_velocity_rad_s":[0.0006521447547746442,0.00125609888328648,-0.21362041889605055,0.2091063803101291,3.022726861951021e-07,0.0007752818652554652],"linkage_position_rad":[0.002933046793035896,0.00015610076027866522,0.0031936915481659916,-0.00342821933210437,0.002933077074170484,0.0001564257659231049,0.0031992719062921547,-0.0034366608104022963],"tcp_position_m":[-0.13425874533685472,0.48412060022717524,0.39014527023510703],"tcp_quaternion_wxyz":[-8.909395073096727e-05,0.7071039091488859,0.7071096433537044,7.749082956196001e-05],"object_position_m":[-0.13444194845195387,0.47894614320708445,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2434154425331854e-12,-1.8542696881929752e-11,1.816577515790479e-18],"object_linear_velocity_m_s":[2.28314108653551e-11,1.531007474958315e-12,6.291655935640885e-15],"object_angular_velocity_rad_s":[-4.2953755807760984e-11,6.405443299726252e-10,-8.098986494923932e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491774669302,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5701203399205088,-1.5888245536602155,1.3783629761767413,-1.385956049300617,-1.5707767037925728,0.0006711903628804294,0.0],"actuator_force":[0.039474024109495076,-19.78671965554213,-19.508677416283717,-2.5432092634328,0.0016380899289742956,-0.000789724881102738,-0.29225632734104173],"issued_joint_targets_rad":[-1.570108354910848,-1.5783697690236942,1.384090264511353,-1.3767462759354165,-1.5707780578972603,0.0006875823200621923],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7000000000000005,"joint_targets_rad":[-1.570108354910848,-1.5783697690236942,1.384090264511353,-1.3767462759354165,-1.5707780578972603,0.0006875823200621923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7200000000000005,"qpos":[-1.5702541535622607,-1.5791087376392237,1.4264034860075254,-1.4183267177864953,-1.5707798348215514,0.0005339191461484885,0.002933044039410361,0.00015609978297537012,0.003193695581357391,-0.0034282158173150512,0.0029330745476310927,0.0001564277522332024,0.00319928726004695,-0.003436654356138909,-0.1344419484513212,0.4789461432071268,0.2998922445797836,1.0,1.3192984517426056e-12,-1.9674461649084463e-11,1.813360594730415e-18],"qvel":[0.0006491508486027711,0.002146630288253851,-0.21462815341563266,0.20923106826518756,1.7707866551846582e-07,0.0007762108167744539,-0.0001083921633373854,-3.268982763819771e-05,1.0413573051784722e-05,0.00024197091374905427,-0.00010150209446953807,-8.443800921521438e-07,0.00012068633506762088,0.00024598772222920377,2.5144466731159903e-11,1.6861008749739506e-12,6.293043714421667e-15,-3.253564907587387e-11,4.851896704256743e-10,-1.478552281183259e-19],"joint_position_rad":[-1.5702541535622607,-1.5791087376392237,1.4264034860075254,-1.4183267177864953,-1.5707798348215514,0.0005339191461484885],"joint_velocity_rad_s":[0.0006491508486027711,0.002146630288253851,-0.21462815341563266,0.20923106826518756,1.7707866551846582e-07,0.0007762108167744539],"linkage_position_rad":[0.002933044039410361,0.00015609978297537012,0.003193695581357391,-0.0034282158173150512,0.0029330745476310927,0.0001564277522332024,0.00319928726004695,-0.003436654356138909],"tcp_position_m":[-0.134266592301622,0.4838931875419698,0.3918369716748452],"tcp_quaternion_wxyz":[-8.918471698926251e-05,0.7071038573012675,0.7071096951957382,7.7433480899631e-05],"object_position_m":[-0.1344419484513212,0.4789461432071268,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3192984517426056e-12,-1.9674461649084463e-11,1.813360594730415e-18],"object_linear_velocity_m_s":[2.5144466731159903e-11,1.6861008749739506e-12,6.293043714421667e-15],"object_angular_velocity_rad_s":[-3.253564907587387e-11,4.851896704256743e-10,-1.4785525091628042e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491585963764,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570103947763627,-1.58857156659382,1.373730610639334,-1.3815670155975555,-1.5707765348414213,0.0006875800152106771,0.0],"actuator_force":[0.040751257825832,-19.784310024494516,-19.494489370129486,-2.543255732048806,0.0016322821984431357,-0.0007906471463510756,-0.29225645806303807],"issued_joint_targets_rad":[-1.5700919631556904,-1.5781022726251916,1.379429482232247,-1.3723539705013992,-1.5707778879159835,0.0007039736861901016],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7200000000000005,"joint_targets_rad":[-1.5700919631556904,-1.5781022726251916,1.379429482232247,-1.3723539705013992,-1.5707778879159835,0.0007039736861901016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7400000000000005,"qpos":[-1.5702377963519611,-1.5790165726467142,1.4219446232673312,-1.4139598743460582,-1.5707796323892407,0.0005501426382535749,0.002933041731674194,0.00015609880088548195,0.003193700128270705,-0.0034282127082081375,0.0029330724673878148,0.00015642974768241463,0.003199303179569901,-0.003436648292921151,-0.13444194845070273,0.47894614320716833,0.2998922445797836,1.0,1.3605119302401713e-12,-2.0289524786664248e-11,1.809781353398437e-18],"qvel":[0.000646131416593682,0.003039900377944087,-0.2156429009608377,0.20935907782352178,7.713519976284973e-08,0.0007770585834085836,-0.00010839053029407684,-3.27920282525511e-05,1.1466310002516148e-05,0.0002422468903182556,-0.00010143497644433208,-6.007195710122227e-07,0.0001229897126651269,0.0002464022465183527,2.8072275855688007e-11,1.8823795608823046e-12,6.301370387106356e-15,-1.4403105131072294e-11,2.1476121709617835e-10,-2.6994398994065764e-19],"joint_position_rad":[-1.5702377963519611,-1.5790165726467142,1.4219446232673312,-1.4139598743460582,-1.5707796323892407,0.0005501426382535749],"joint_velocity_rad_s":[0.000646131416593682,0.003039900377944087,-0.2156429009608377,0.20935907782352178,7.713519976284973e-08,0.0007770585834085836],"linkage_position_rad":[0.002933041731674194,0.00015609880088548195,0.003193700128270705,-0.0034282127082081375,0.0029330724673878148,0.00015642974768241463,0.003199303179569901,-0.003436648292921151],"tcp_position_m":[-0.13427443357302124,0.48366605194534684,0.39352853327985954],"tcp_quaternion_wxyz":[-8.920597062781461e-05,0.7071038100220209,0.7071097424855383,7.730893614192357e-05],"object_position_m":[-0.13444194845070273,0.47894614320716833,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3605119302401713e-12,-2.0289524786664248e-11,1.809781353398437e-18],"object_linear_velocity_m_s":[2.8072275855688007e-11,1.8823795608823046e-12,6.301370387106356e-15],"object_angular_velocity_rad_s":[-1.4403105131072294e-11,2.1476121709617835e-10,-2.6994408386175677e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491391501935,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5700875538505328,-1.5882997668232646,1.3690760718520982,-1.3771746664808318,-1.5707763641697512,0.0007039713799562643,0.0],"actuator_force":[0.042032436219415104,-19.78234850427816,-19.479942446130735,-2.5433038497390044,0.0016263962248785901,-0.0007914874895136315,-0.29225658241940844],"issued_joint_targets_rad":[-1.5700755696394058,-1.577815631959471,1.3747461139284671,-1.3679582364473573,-1.5707777161282745,0.000720366852149488],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7400000000000005,"joint_targets_rad":[-1.5700755696394058,-1.577815631959471,1.3747461139284671,-1.3679582364473573,-1.5707777161282745,0.000720366852149488],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7600000000000006,"qpos":[-1.5702214342682552,-1.578905857054059,1.417464657773198,-1.4095903036941815,-1.570779432650556,0.0005663823831178616,0.002933039789379536,0.00015609781379325198,0.003193705109316407,-0.0034282099286931894,0.0029330707529805857,0.00015643175275646847,0.0031993195879909957,-0.0034366425435921645,-0.134441948450104,0.4789461432072085,0.2998922445797836,1.0,1.3541213465443022e-12,-2.0194632340219074e-11,1.8059317009315036e-18],"qvel":[0.0006430858761388698,0.003936201687481009,-0.21666507060110013,0.20949061833558286,4.750991830755293e-10,0.0007778333466724175,-0.0001083935475953905,-3.289520426793793e-05,1.252914369069118e-05,0.00024253183581380482,-0.00010137186143693229,-3.546278290851971e-07,0.00012531545939517132,0.00024682700965106367,3.2369126239143234e-11,2.170455162398021e-12,6.299982608325574e-15,1.4169328577694438e-11,-2.1135573603540142e-10,-4.928765280031337e-19],"joint_position_rad":[-1.5702214342682552,-1.578905857054059,1.417464657773198,-1.4095903036941815,-1.570779432650556,0.0005663823831178616],"joint_velocity_rad_s":[0.0006430858761388698,0.003936201687481009,-0.21666507060110013,0.20949061833558286,4.750991830755293e-10,0.0007778333466724175],"linkage_position_rad":[0.002933039789379536,0.00015609781379325198,0.003193705109316407,-0.0034282099286931894,0.0029330707529805857,0.00015643175275646847,0.0031993195879909957,-0.0034366425435921645],"tcp_position_m":[-0.1342822692866046,0.4834392111090622,0.39521995596370196],"tcp_quaternion_wxyz":[-8.91643417186899e-05,0.7071037667739198,0.7071097857587755,7.712348575774688e-05],"object_position_m":[-0.134441948450104,0.4789461432072085,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3541213465443022e-12,-2.0194632340219074e-11,1.8059317009315036e-18],"object_linear_velocity_m_s":[3.2369126239143234e-11,2.170455162398021e-12,6.299982608325574e-15],"object_angular_velocity_rad_s":[1.4169328577694438e-11,-2.1135573603540142e-10,-4.928766418686253e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491191985382,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5700711580853743,-1.5880090364128232,1.3643991262016488,-1.3727788875521312,-1.570776191700339,0.0007203645442184562,0.0],"actuator_force":[0.043318015306340385,-19.780839392521102,-19.465034902658317,-2.5433537625331155,0.0016204275984819105,-0.0007922541169444464,-0.29225670007284443],"issued_joint_targets_rad":[-1.570059174280727,-1.5775097173657924,1.3700399119858173,-1.3635589563732147,-1.570777542453919,0.0007367618954629727],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7600000000000006,"joint_targets_rad":[-1.570059174280727,-1.5775097173657924,1.3700399119858173,-1.3635589563732147,-1.570777542453919,0.0007367618954629727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7800000000000006,"qpos":[-1.5702050672939634,-1.5787765228725505,1.4129634279884213,-1.405217928758749,-1.5707792351639913,0.0005826370023422538,0.002933038146900327,0.00015609682148816326,0.0031937104594608507,-0.0034282074168486584,0.0029330693387496967,0.00015643376790295144,0.0031993364228592217,-0.0034366370450917565,-0.13444194844953297,0.47894614320724677,0.2998922445797836,1.0,1.2793423006889364e-12,-1.9079814885894002e-11,1.802046615630323e-18],"qvel":[0.0006400133683544426,0.004835848657445905,-0.2176950957564652,0.20962589248791064,-5.464152245458863e-08,0.0007785424599368295,-0.00010840061880878689,-3.299944301424414e-05,1.360319415101917e-05,0.00024282539020478762,-0.00010131211319998439,-1.0597499404296105e-07,0.00012766549177512093,0.0002472617606689969,3.9283114815278337e-11,2.633975544130187e-12,6.295819271983229e-15,5.706770226050556e-11,-8.511840837562338e-10,-8.998694520924495e-19],"joint_position_rad":[-1.5702050672939634,-1.5787765228725505,1.4129634279884213,-1.405217928758749,-1.5707792351639913,0.0005826370023422538],"joint_velocity_rad_s":[0.0006400133683544426,0.004835848657445905,-0.2176950957564652,0.20962589248791064,-5.464152245458863e-08,0.0007785424599368295],"linkage_position_rad":[0.002933038146900327,0.00015609682148816326,0.0031937104594608507,-0.0034282074168486584,0.0029330693387496967,0.00015643376790295144,0.0031993364228592217,-0.0034366370450917565],"tcp_position_m":[-0.1342900995862188,0.48321268434501347,0.39691124079219625],"tcp_quaternion_wxyz":[-8.906581175096201e-05,0.7071037270627868,0.7071098255081963,7.68827983802494e-05],"object_position_m":[-0.13444194844953297,0.47894614320724677,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2793423006889364e-12,-1.9079814885894002e-11,1.802046615630323e-18],"object_linear_velocity_m_s":[3.9283114815278337e-11,2.633975544130187e-12,6.295819271983229e-15],"object_angular_velocity_rad_s":[5.706770226050556e-11,-8.511840837562338e-10,-8.998696813103069e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490987985325,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.570054760382139,-1.587699246825601,1.3596995263961875,-1.3683795614496692,-1.5707760173514655,0.000736759585541703,0.0],"actuator_force":[0.044608476306621014,-19.77978736907926,-19.449764881881038,-2.543405594251226,0.0016143704151545535,-0.0007929543939583228,-0.29225681062245734],"issued_joint_targets_rad":[-1.5700427770116885,-1.5771843867656214,1.365310613132059,-1.3591560096646846,-1.5707773668069953,0.000753158880743963],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7800000000000006,"joint_targets_rad":[-1.5700427770116885,-1.5771843867656214,1.365310613132059,-1.3591560096646846,-1.5707773668069953,0.000753158880743963],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8000000000000006,"qpos":[-1.5701886953772202,-1.5786284951515772,1.4084407628903235,-1.400842668314654,-1.5707790395217671,0.0005989052558946947,0.002933036750821164,0.0001560958237673197,0.003193716125580093,-0.0034282051224726177,0.002933068171220287,0.00015643579352872183,0.0031993536334800413,-0.003436631745984909,-0.13444194844900298,0.47894614320728224,0.2998922445797836,1.0,1.1059248014058687e-12,-1.649380619590022e-11,1.7986332267024597e-18],"qvel":[0.0006369127138081888,0.005739183472114572,-0.21873344097215391,0.2097650980752262,-8.974031354527623e-08,0.0007791925123957367,-0.00010841128021033588,-3.31048457800101e-05,1.4689522983812035e-05,0.00024312735066190914,-0.00010125522237781335,1.4538701039626095e-07,0.00013004178604123412,0.00024770642496882694,2.0183050889980547e-11,1.3532980196952025e-12,6.298594829544791e-15,-4.734507531266224e-11,7.060944764893139e-10,-9.749095091608414e-20],"joint_position_rad":[-1.5701886953772202,-1.5786284951515772,1.4084407628903235,-1.400842668314654,-1.5707790395217671,0.0005989052558946947],"joint_velocity_rad_s":[0.0006369127138081888,0.005739183472114572,-0.21873344097215391,0.2097650980752262,-8.974031354527623e-08,0.0007791925123957367],"linkage_position_rad":[0.002933036750821164,0.0001560958237673197,0.003193716125580093,-0.0034282051224726177,0.002933068171220287,0.00015643579352872183,0.0031993536334800413,-0.003436631745984909],"tcp_position_m":[-0.13429792462624682,0.48298649285734396,0.3986023890119553],"tcp_quaternion_wxyz":[-8.891577441302927e-05,0.7071036904311643,0.7071098621899441,7.659197861541541e-05],"object_position_m":[-0.13444194844900298,0.47894614320728224,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1059248014058687e-12,-1.649380619590022e-11,1.7986332267024597e-18],"object_linear_velocity_m_s":[2.0183050889980547e-11,1.3532980196952025e-12,6.298594829544791e-15],"object_angular_velocity_rad_s":[-4.734507531266224e-11,7.060944764893139e-10,-9.749097712178839e-20],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490779967473,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5700383606679353,-1.5873702572363482,1.3549770095037112,-1.3639765675910078,-1.570775841035811,0.0007531565685587341,0.0],"actuator_force":[0.045904333046564716,-19.77919755838775,-19.43413038436256,-2.5434594456994546,0.0016082170094477988,-0.0007935949075539295,-0.2922569135891318],"issued_joint_targets_rad":[-1.570026377782814,-1.576839483546175,1.3605579360004016,-1.3547492721809593,-1.5707771890945394,0.0007695578544787097],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8000000000000006,"joint_targets_rad":[-1.570026377782814,-1.576839483546175,1.3605579360004016,-1.3547492721809593,-1.5707771890945394,0.0007695578544787097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8200000000000006,"qpos":[-1.5701723184287517,-1.5784616912840004,1.4038964811840864,-1.3964644370428962,-1.5707788453458473,0.0006151860271311753,0.0029330355578158214,0.00015609482043961063,0.0031937220642816086,-0.003428203005095484,0.0029330672069747183,0.00015643782999379116,0.00319937117870695,-0.003436626604451813,-0.1344419484483912,0.4789461432073233,0.2998922445797836,1.0,1.1810360430898936e-12,-1.761413078078218e-11,1.7924014944123817e-18],"qvel":[0.000633782351236895,0.00664658328995817,-0.21978061024600373,0.20990842984039684,-1.0614228694950509e-07,0.000779789378345931,-0.00010842518212384901,-3.321153119451714e-05,1.578916993443551e-05,0.00024343766454828627,-0.00010120078644100518,3.9962877289648885e-07,0.00013244644323403185,0.0002481610987280039,2.1764408510086152e-11,1.4593162330697248e-12,6.294431493202447e-15,-4.164186016364336e-11,6.210478874101708e-10,-1.779879885409978e-19],"joint_position_rad":[-1.5701723184287517,-1.5784616912840004,1.4038964811840864,-1.3964644370428962,-1.5707788453458473,0.0006151860271311753],"joint_velocity_rad_s":[0.000633782351236895,0.00664658328995817,-0.21978061024600373,0.20990842984039684,-1.0614228694950509e-07,0.000779789378345931],"linkage_position_rad":[0.0029330355578158214,0.00015609482043961063,0.0031937220642816086,-0.003428203005095484,0.0029330672069747183,0.00015643782999379116,0.00319937117870695,-0.003436626604451813],"tcp_position_m":[-0.13430574457424968,0.4827606600489833,0.40029340208498],"tcp_quaternion_wxyz":[-8.871909024499448e-05,0.707103656452051,0.707109896229817,7.625561890833267e-05],"object_position_m":[-0.1344419484483912,0.4789461432073233,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1810360430898936e-12,-1.761413078078218e-11,1.7924014944123817e-18],"object_linear_velocity_m_s":[2.1764408510086152e-11,1.4593162330697248e-12,6.294431493202447e-15],"object_angular_velocity_rad_s":[-4.164186016364336e-11,6.210478874101708e-10,-1.7798799900372021e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490568312682,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5700219588881315,-1.5870219124290355,1.3502312945161832,-1.3595697818610843,-1.5707756626591047,0.0007695555397728131,0.0],"actuator_force":[0.04720614074585683,-19.77907560605354,-19.418129237405083,-2.5435153931337027,0.0016019575999735025,-0.0007941815137741948,-0.2922570083967027],"issued_joint_targets_rad":[-1.5700099765712439,-1.5764748338900332,1.3557815780654259,-1.350338615870518,-1.5707770092148665,0.0007859588368932327],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8200000000000006,"joint_targets_rad":[-1.5700099765712439,-1.5764748338900332,1.3557815780654259,-1.350338615870518,-1.5707770092148665,0.0007859588368932327],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8400000000000006,"qpos":[-1.5701559363181037,-1.578276020130455,1.3993303903082133,-1.392083145546702,-1.5707786522841534,0.0006314783084857711,0.002933034532932994,0.0001560938113309469,0.003193728240105613,-0.0034282010324064543,0.002933066410929915,0.00015643987760135278,0.0031993890250955354,-0.003436621586684154,-0.1344419484477946,0.4789461432073633,0.2998922445797836,1.0,1.2402728979115951e-12,-1.849754184880135e-11,1.7853309214510723e-18],"qvel":[0.0006306202517913856,0.007558469366299161,-0.22083715747278815,0.21005608144996346,-1.049694617336873e-07,0.0007803382483556088,-0.00010844207512331645,-3.331963978971585e-05,1.6903189930884646e-05,0.0002437564254397323,-0.00010114849402558467,6.569491386808961e-07,0.0001348817638445379,0.0002486260520942949,2.367770290177541e-11,1.5876048880905335e-12,6.294431493202447e-15,-3.1126103908263996e-11,4.6421908507325985e-10,-3.24973715040116e-19],"joint_position_rad":[-1.5701559363181037,-1.578276020130455,1.3993303903082133,-1.392083145546702,-1.5707786522841534,0.0006314783084857711],"joint_velocity_rad_s":[0.0006306202517913856,0.007558469366299161,-0.22083715747278815,0.21005608144996346,-1.049694617336873e-07,0.0007803382483556088],"linkage_position_rad":[0.002933034532932994,0.0001560938113309469,0.003193728240105613,-0.0034282010324064543,0.002933066410929915,0.00015643987760135278,0.0031993890250955354,-0.003436621586684154],"tcp_position_m":[-0.1343135596141357,0.4825352118981567,0.4019842817311382],"tcp_quaternion_wxyz":[-8.84801356826225e-05,0.7071036247225096,0.7071099280296561,7.587784593213347e-05],"object_position_m":[-0.1344419484477946,0.4789461432073633,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2402728979115951e-12,-1.849754184880135e-11,1.7853309214510723e-18],"object_linear_velocity_m_s":[2.367770290177541e-11,1.5876048880905335e-12,6.294431493202447e-15],"object_angular_velocity_rad_s":[-3.1126103908263996e-11,4.6421908507325985e-10,-3.249737111595631e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490353334741,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5700055550144176,-1.586654040144191,1.3454620792862724,-1.3551590762282621,-1.5707754821184323,0.0007859565194248303,0.0],"actuator_force":[0.04851450665501034,-19.77942777399221,-19.401759054766444,-2.5435734857765055,0.0015955798066897842,-0.0007947193660313157,-0.29225709434740094],"issued_joint_targets_rad":[-1.5699935733923829,-1.5760902433592394,1.3509812117350612,-1.3459239082909324,-1.5707768270554356,0.000802361810287493],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8400000000000006,"joint_targets_rad":[-1.5699935733923829,-1.5760902433592394,1.3509812117350612,-1.3459239082909324,-1.5707768270554356,0.000802361810287493],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8600000000000007,"qpos":[-1.570139548868492,-1.578071380911517,1.3947422851741045,-1.3876987003193801,-1.5707784600069,0.0006477811874295667,0.002933033648225634,0.00015609279629236525,0.0031937346240331664,-0.0034281991790090552,0.0029330657549548854,0.0001564419365817125,0.0031994071453303997,-0.0034366166655921122,-0.13444194844717863,0.47894614320740464,0.2998922445797836,1.0,1.3431343051957242e-12,-2.0031585779750113e-11,1.776404959655207e-18],"qvel":[0.000627423802803907,0.008475318780435772,-0.22190369980799682,0.21020824769639296,-8.714584071729404e-08,0.0007808436412196105,-0.0001084618008835407,-3.342934015571131e-05,1.8032693093905107e-05,0.00024408387964365888,-0.00010109811328038406,9.175827470864338e-07,0.00013735033833615128,0.0002491017422427664,2.707144418178444e-11,1.8151613132687063e-12,6.293043714421666e-15,-1.6510121053099527e-11,2.4623395412668305e-10,-5.93333026138965e-19],"joint_position_rad":[-1.570139548868492,-1.578071380911517,1.3947422851741045,-1.3876987003193801,-1.5707784600069,0.0006477811874295667],"joint_velocity_rad_s":[0.000627423802803907,0.008475318780435772,-0.22190369980799682,0.21020824769639296,-8.714584071729404e-08,0.0007808436412196105],"linkage_position_rad":[0.002933033648225634,0.00015609279629236525,0.0031937346240331664,-0.0034281991790090552,0.0029330657549548854,0.0001564419365817125,0.0031994071453303997,-0.0034366166655921122],"tcp_position_m":[-0.13432136995005642,0.48231017742602805,0.4036750299809798],"tcp_quaternion_wxyz":[-8.820284692449507e-05,0.7071035948568745,0.7071099579741291,7.546236188626908e-05],"object_position_m":[-0.13444194844717863,0.47894614320740464,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3431343051957242e-12,-2.0031585779750113e-11,1.776404959655207e-18],"object_linear_velocity_m_s":[2.707144418178444e-11,1.8151613132687063e-12,6.293043714421666e-15],"object_angular_velocity_rad_s":[-1.6510121053099527e-11,2.4623395412668305e-10,-5.933330234094003e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490135295724,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699891490563802,-1.5862664476854613,1.3406690366203158,-1.3507443182642727,-1.5707752993000854,0.0008023594898276135,0.0],"actuator_force":[0.04983010310161262,-19.780261060062912,-19.385017184378285,-2.5436337420854898,0.001589067991289994,-0.0007952129229376603,-0.2922571705882064],"issued_joint_targets_rad":[-1.5699771683186552,-1.5756854924593258,1.3461564792885679,-1.341505011998165,-1.5707766424900693,0.0008187667003035808],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8600000000000007,"joint_targets_rad":[-1.5699771683186552,-1.5756854924593258,1.3461564792885679,-1.341505011998165,-1.5707766424900693,0.0008187667003035808],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8800000000000007,"qpos":[-1.5701231558499222,-1.5778476617965953,1.3901319465594602,-1.3833110036557061,-1.5707782682029727,0.0006640938320114104,0.002933032881674691,0.00015609177521174473,0.0031937411922280385,-0.0034281974254907056,0.0029330652167777666,0.000156444007067574,0.0031994255168487505,-0.0034366118198376253,-0.13444194844656965,0.4789461432074455,0.2998922445797836,1.0,1.381051392156509e-12,-2.0596965811451677e-11,1.76670437570926e-18],"qvel":[0.0006241896393188465,0.00939767979771427,-0.2229809351122028,0.2103651270540494,-5.339243370494515e-08,0.000781309382320512,-0.0001084842875334092,-3.354083732984744e-05,1.917889246436287e-05,0.00024442044077273967,-0.00010104948378012832,1.181810700909194e-06,0.00013985516492970204,0.00024958883890522537,3.161346081001324e-11,2.1197201821650497e-12,6.298594829544794e-15,8.339397270854175e-12,-1.2435938954538608e-10,-1.0832758485225219e-18],"joint_position_rad":[-1.5701231558499222,-1.5778476617965953,1.3901319465594602,-1.3833110036557061,-1.5707782682029727,0.0006640938320114104],"joint_velocity_rad_s":[0.0006241896393188465,0.00939767979771427,-0.2229809351122028,0.2103651270540494,-5.339243370494515e-08,0.000781309382320512],"linkage_position_rad":[0.002933032881674691,0.00015609177521174473,0.0031937411922280385,-0.0034281974254907056,0.0029330652167777666,0.000156444007067574,0.0031994255168487505,-0.0034366118198376253],"tcp_position_m":[-0.13432917581124545,0.4820855892848413,0.4053656492423038],"tcp_quaternion_wxyz":[-8.789075898968325e-05,0.7071035664792045,0.7071099864382704,7.501248101340426e-05],"object_position_m":[-0.13444194844656965,0.4789461432074455,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.381051392156509e-12,-2.0596965811451677e-11,1.76670437570926e-18],"object_linear_velocity_m_s":[3.161346081001324e-11,2.1197201821650497e-12,6.298594829544794e-15],"object_angular_velocity_rad_s":[8.339397270854175e-12,-1.2435938954538608e-10,-1.083275809377689e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489914420167,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699727410801552,-1.5858589175122908,1.3358518092175062,-1.3463253705335236,-1.5707751140767665,0.0008187643766342228,0.0],"actuator_force":[0.05115368380666041,-19.78158335047692,-19.36790063902663,-2.543696144313685,0.0015824023463437698,-0.0007956659206450611,-0.2922572360660552],"issued_joint_targets_rad":[-1.5699607615073792,-1.5752603307795734,1.3413069862050133,-1.337081783754987,-1.5707764553752572,0.0008351733480766308],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8800000000000007,"joint_targets_rad":[-1.5699607615073792,-1.5752603307795734,1.3413069862050133,-1.337081783754987,-1.5707764553752572,0.0008351733480766308],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9000000000000007,"qpos":[-1.5701067569699376,-1.5776047380886697,1.3854991390415365,-1.3789199534944356,-1.570778076576225,0.0006804154751556178,0.0029330322163752497,0.00015609074803231562,0.0031937479249601946,-0.0034281957577768146,0.0029330647791479137,0.0001564460890559518,0.0031994441205754225,-0.0034366070331007356,-0.13444194844597837,0.47894614320748513,0.2998922445797836,1.0,1.3400274884590098e-12,-1.998526457142071e-11,1.7567145989575453e-18],"qvel":[0.0006209134074075389,0.010326192399980965,-0.224069665202122,0.21052692477197038,-4.214397182857393e-09,0.0007817385421929989,-0.00010850955006516535,-3.3654384486090806e-05,2.0343163222819343e-05,0.0002447667191357128,-0.00010100251215728709,1.4499750450008384e-06,0.00014239980452565977,0.00025008826674594145,3.82817573914795e-11,2.5667975231279143e-12,6.301370387106357e-15,4.7616228203813096e-11,-7.102021186988426e-10,-1.9778140456254727e-18],"joint_position_rad":[-1.5701067569699376,-1.5776047380886697,1.3854991390415365,-1.3789199534944356,-1.570778076576225,0.0006804154751556178],"joint_velocity_rad_s":[0.0006209134074075389,0.010326192399980965,-0.224069665202122,0.21052692477197038,-4.214397182857393e-09,0.0007817385421929989],"linkage_position_rad":[0.0029330322163752497,0.00015609074803231562,0.0031937479249601946,-0.0034281957577768146,0.0029330647791479137,0.0001564460890559518,0.0031994441205754225,-0.0034366070331007356],"tcp_position_m":[-0.1343369774581839,0.48186148450803434,0.40705614238533017],"tcp_quaternion_wxyz":[-8.754704024754632e-05,0.7071035392144592,0.7071100137963021,7.453116152964672e-05],"object_position_m":[-0.13444194844597837,0.47894614320748513,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3400274884590098e-12,-1.998526457142071e-11,1.7567145989575453e-18],"object_linear_velocity_m_s":[3.82817573914795e-11,2.5667975231279143e-12,6.301370387106357e-15],"object_angular_velocity_rad_s":[4.7616228203813096e-11,-7.102021186988426e-10,-1.9778141805112165e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489690908842,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699563312361742,-1.585431201417088,1.3310100029998715,-1.3419020898013696,-1.5707749263038753,0.0008351710209889374,0.0],"actuator_force":[0.05248610456374081,-19.783403616828764,-19.350406002481577,-2.5437606306639964,0.0015755576146148087,-0.0007960813026401392,-0.2922572894650459],"issued_joint_targets_rad":[-1.5699443532444728,-1.5748144691035917,1.3364322921987484,-1.3326540734831376,-1.5707762655451416,0.0008515814665936449],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9000000000000007,"joint_targets_rad":[-1.5699443532444728,-1.5748144691035917,1.3364322921987484,-1.3326540734831376,-1.5707762655451416,0.0008515814665936449],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9200000000000007,"qpos":[-1.570090351861138,-1.5773424698589167,1.3808436083052211,-1.3745254431732186,-1.5707778848415475,0.000696745396352189,0.0029330316399679623,0.0001560897147805489,0.003193754805643507,-0.0034281941667709055,0.002933064429232084,0.00015644818234935713,0.003199462939668562,-0.0034366022936429216,-0.13444194844542057,0.47894614320752255,0.2998922445797836,1.0,1.1974066846861155e-12,-1.7858381298041107e-11,1.7475139602455313e-18],"qvel":[0.0006175894175335149,0.011261616312184829,-0.22517082752935877,0.21069385677612912,6.012283840913143e-08,0.0007821333084563234,-0.0001085376968253869,-3.377029971802175e-05,2.1527120784587372e-05,0.00024512356591393424,-0.00010095717176795549,1.7224995486202757e-06,0.00014498859728822246,0.0002506012696643489,4.9032037741397896e-11,3.2876129081086783e-12,6.2985948295447945e-15,1.0633404203539599e-10,-1.5858908406202914e-09,-3.6109178702376715e-18],"joint_position_rad":[-1.570090351861138,-1.5773424698589167,1.3808436083052211,-1.3745254431732186,-1.5707778848415475,0.000696745396352189],"joint_velocity_rad_s":[0.0006175894175335149,0.011261616312184829,-0.22517082752935877,0.21069385677612912,6.012283840913143e-08,0.0007821333084563234],"linkage_position_rad":[0.0029330316399679623,0.0001560897147805489,0.003193754805643507,-0.0034281941667709055,0.002933064429232084,0.00015644818234935713,0.003199462939668562,-0.0034366022936429216],"tcp_position_m":[-0.13434477519059745,0.4816379054822067,0.4087465128535148],"tcp_quaternion_wxyz":[-8.717452260116841e-05,0.7071035126776081,0.7071100404325176,7.402103304702531e-05],"object_position_m":[-0.13444194844542057,0.47894614320752255,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1974066846861155e-12,-1.7858381298041107e-11,1.7475139602455313e-18],"object_linear_velocity_m_s":[4.9032037741397896e-11,3.2876129081086783e-12,6.2985948295447945e-15],"object_angular_velocity_rad_s":[1.0633404203539599e-10,-1.5858908406202914e-09,-3.610917875089894e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489464953488,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569939919802696,-1.584983012683941,1.3261431781496598,-1.3374743259859199,-1.5707747358144748,0.000851579135886108,0.0],"actuator_force":[0.053828349870400416,-19.785732174922487,-19.33252929937953,-2.543827083963606,0.0015685012524500053,-0.0007964610786728166,-0.2922573291170356],"issued_joint_targets_rad":[-1.5699279440132978,-1.5743475685541892,1.3315318989065812,-1.3282217228433784,-1.5707760728045495,0.0008679905719684736],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9200000000000007,"joint_targets_rad":[-1.5699279440132978,-1.5743475685541892,1.3315318989065812,-1.3282217228433784,-1.5707760728045495,0.0008679905719684736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9400000000000007,"qpos":[-1.5700739400641355,-1.5770606988150564,1.3761650775813115,-1.3701273610674338,-1.5707776927204875,0.0007130828986268967,0.00293303114432148,0.00015608867561092463,0.0031937618199216608,-0.0034281926483404235,0.002933064158243932,0.00015645028646382261,0.0031994819581422137,-0.0034365975941333163,-0.1344419484448127,0.47894614320756335,0.2998922445797836,1.0,1.2043757707606252e-12,-1.7962329491967953e-11,1.733816882866482e-18],"qvel":[0.0006142101293491312,0.012204870166121278,-0.22628553938592258,0.2108661548012375,1.3963353786055067e-07,0.0007824947548326403,-0.0001085689438330016,-3.388899039704102e-05,2.273273069752089e-05,0.0002454921450884829,-0.00010091350703978036,1.999920207987048e-06,0.00014762697294145026,0.0002511295141028501,2.2082800307401167e-11,1.4806557251775833e-12,6.295819271983231e-15,-4.484261586846608e-11,6.687884949724418e-10,-3.9121333538417967e-19],"joint_position_rad":[-1.5700739400641355,-1.5770606988150564,1.3761650775813115,-1.3701273610674338,-1.5707776927204875,0.0007130828986268967],"joint_velocity_rad_s":[0.0006142101293491312,0.012204870166121278,-0.22628553938592258,0.2108661548012375,1.3963353786055067e-07,0.0007824947548326403],"linkage_position_rad":[0.00293303114432148,0.00015608867561092463,0.0031937618199216608,-0.0034281926483404235,0.002933064158243932,0.00015645028646382261,0.0031994819581422137,-0.0034365975941333163],"tcp_position_m":[-0.13435256935807066,0.4814149012295085,0.41043676481048863],"tcp_quaternion_wxyz":[-8.677572738583147e-05,0.7071034864594575,0.7071100667554467,7.348441939446076e-05],"object_position_m":[-0.1344419484448127,0.47894614320756335,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2043757707606252e-12,-1.7962329491967953e-11,1.733816882866482e-18],"object_linear_velocity_m_s":[2.2082800307401167e-11,1.4806557251775833e-12,6.295819271983231e-15],"object_angular_velocity_rad_s":[-4.484261586846608e-11,6.687884949724418e-10,-3.912133457489854e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489236754298,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569923507254408,-1.5845140152972594,1.3212508367990008,-1.3330419207374538,-1.5707745424123,0.0008679882374451134,0.0],"actuator_force":[0.055181567715408164,-19.788581030854402,-19.31426581025198,-2.543895315133682,0.00156119073994887,-0.0007968060741557204,-0.2922573528739067],"issued_joint_targets_rad":[-1.56991153460609,-1.5738592252821166,1.3266052325470807,-1.3237845632598075,-1.570775876919048,0.0008843998722191826],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9400000000000007,"joint_targets_rad":[-1.56991153460609,-1.5738592252821166,1.3266052325470807,-1.3237845632598075,-1.570775876919048,0.0008843998722191826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9600000000000007,"qpos":[-1.5700575210038998,-1.5767592440744573,1.3714632428424782,-1.3657255900687928,-1.5707774999360815,0.0007294272772488432,0.002933030725499902,0.00015608763087812067,0.0031937689547032605,-0.003428191203702932,0.0029330639613297303,0.00015645240048078928,0.003199501159153341,-0.0034365929318560936,-0.13444194844419036,0.4789461432076051,0.2998922445797836,1.0,1.2728375001340301e-12,-1.898344339882376e-11,1.7162885484458055e-18],"qvel":[0.0006107653627728641,0.013157087671874505,-0.22741516124708716,0.21104407342182677,2.346762288959703e-07,0.0007828224371520285,-0.00010860364083842253,-3.401098993550502e-05,2.396246858047425e-05,0.0002458740455405345,-0.00010087164456549472,2.282930539777603e-06,0.00015032191181649357,0.0002516752402648534,2.4001067889817772e-11,1.6092699583465743e-12,6.29581927198323e-15,-3.548695331393179e-11,5.292596825914667e-10,-7.142584604044584e-19],"joint_position_rad":[-1.5700575210038998,-1.5767592440744573,1.3714632428424782,-1.3657255900687928,-1.5707774999360815,0.0007294272772488432],"joint_velocity_rad_s":[0.0006107653627728641,0.013157087671874505,-0.22741516124708716,0.21104407342182677,2.346762288959703e-07,0.0007828224371520285],"linkage_position_rad":[0.002933030725499902,0.00015608763087812067,0.0031937689547032605,-0.003428191203702932,0.0029330639613297303,0.00015645240048078928,0.003199501159153341,-0.0034365929318560936],"tcp_position_m":[-0.13436036037447724,0.48119252913513466,0.4121269033391706],"tcp_quaternion_wxyz":[-8.635288689241287e-05,0.7071034601072258,0.7071100932172806,7.29233565084329e-05],"object_position_m":[-0.13444194844419036,0.4789461432076051,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2728375001340301e-12,-1.898344339882376e-11,1.7162885484458055e-18],"object_linear_velocity_m_s":[2.4001067889817772e-11,1.6092699583465743e-12,6.29581927198323e-15],"object_angular_velocity_rad_s":[-3.548695331393179e-11,5.292596825914667e-10,-7.14258466401099e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348900654331,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699070943735103,-1.584023808716622,1.3163324056925385,-1.328604705461684,-1.5707743458617824,0.0008843975336876299,0.0],"actuator_force":[0.05654711567012782,-19.791964353079493,-19.29560980104452,-2.5439650386282437,0.001553569526663523,-0.0007971154958095195,-0.292257357914462],"issued_joint_targets_rad":[-1.5698959147657536,-1.5733658044262597,1.3219079497989261,-1.3195806376792485,-1.5707757832148976,0.00090002141478625],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9600000000000007,"joint_targets_rad":[-1.5698959147657536,-1.5733658044262597,1.3219079497989261,-1.3195806376792485,-1.5707757832148976,0.00090002141478625],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9800000000000008,"qpos":[-1.5700412058748427,-1.5764413551815895,1.3667565552331258,-1.36134041308259,-1.5707773224765529,0.0007457060751519905,0.0029329114608951943,0.00015606847888853385,0.00319371956718396,-0.0034279879769011147,0.002932947717504948,0.00015644721477945948,0.0031995033473735638,-0.003436384451256057,-0.13444194844358423,0.4789461432076457,0.2998922445797836,1.0,1.315912449928649e-12,-1.9625795992789726e-11,1.6966706990943338e-18],"qvel":[0.0006145654267420798,0.014004982286957852,-0.22738231422569824,0.21012085371005695,3.19119201393623e-07,0.0007794963056387782,-0.0001087895871693666,-3.234674724103945e-05,1.7493207055380596e-05,0.00023980887256453345,-0.00010144735135365498,1.9046038510964663e-06,0.00013693284983743736,0.00024539938348086494,2.649800392777314e-11,1.776695522285816e-12,6.291655935640885e-15,-1.9575323157560306e-11,2.919569395011073e-10,-1.30404829575046e-18],"joint_position_rad":[-1.5700412058748427,-1.5764413551815895,1.3667565552331258,-1.36134041308259,-1.5707773224765529,0.0007457060751519905],"joint_velocity_rad_s":[0.0006145654267420798,0.014004982286957852,-0.22738231422569824,0.21012085371005695,3.19119201393623e-07,0.0007794963056387782],"linkage_position_rad":[0.0029329114608951943,0.00015606847888853385,0.00319371956718396,-0.0034279879769011147,0.002932947717504948,0.00015644721477945948,0.0031995033473735638,-0.003436384451256057],"tcp_position_m":[-0.13436809156160984,0.48097195163880424,0.4138115565173562],"tcp_quaternion_wxyz":[-8.769820516448284e-05,0.7071034470969543,0.7071101059354806,7.413867449458463e-05],"object_position_m":[-0.13444194844358423,0.4789461432076457,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.315912449928649e-12,-1.9625795992789726e-11,1.6966706990943338e-18],"object_linear_velocity_m_s":[2.649800392777314e-11,1.776695522285816e-12,6.291655935640885e-15],"object_angular_velocity_rad_s":[-1.9575323157560306e-11,2.919569395011073e-10,-1.3040482788049612e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487933683497,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698915147345063,-1.5835285649363053,1.3116434895164935,-1.324400817865127,-1.570774251579829,0.0009000191056735053,0.0],"actuator_force":[0.0535561099759434,-19.776412424215323,-19.273205742985283,-2.5422877622742135,0.001503536441759934,-0.0007931153031204285,-0.292241774227392],"issued_joint_targets_rad":[-1.5698939545209096,-1.573163767411997,1.3216506129155736,-1.3195036153936106,-1.5707775287230614,0.0009020141507133831],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9800000000000008,"joint_targets_rad":[-1.5698939545209096,-1.573163767411997,1.3216506129155736,-1.3195036153936106,-1.5707775287230614,0.0009020141507133831],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0000000000000007,"qpos":[-1.570026529113332,-1.57616755648501,1.3624139086664317,-1.3573460954592838,-1.5707774036482234,0.0007606793519784752,0.0029307632319960537,0.00015581393258153086,0.003192430969047904,-0.0034246663130417694,0.002930834792053416,0.00015632100202791262,0.0031987061866714426,-0.0034330177310363886,-0.13444194844299762,0.478946143207685,0.2998922445797836,1.0,1.319846867282391e-12,-1.9684625668072232e-11,1.6753500758719771e-18],"qvel":[0.0007044403905449737,0.01305576377572047,-0.2069945705783616,0.19026991571018334,1.8720014948688296e-06,0.0007138156592652122,-0.00010157730922970054,-3.2511453378559616e-06,-8.82027647832511e-05,0.00011182153877968615,-0.00010145186018862221,-2.145667007921125e-06,-8.084081775531083e-05,0.00011767630015036629,3.0168024900114666e-11,2.0227500301573944e-12,6.291655935640883e-15,5.463051031192729e-12,-8.149844913592117e-11,-2.3809067432078945e-18],"joint_position_rad":[-1.570026529113332,-1.57616755648501,1.3624139086664317,-1.3573460954592838,-1.5707774036482234,0.0007606793519784752],"joint_velocity_rad_s":[0.0007044403905449737,0.01305576377572047,-0.2069945705783616,0.19026991571018334,1.8720014948688296e-06,0.0007138156592652122],"linkage_position_rad":[0.0029307632319960537,0.00015581393258153086,0.003192430969047904,-0.0034246663130417694,0.002930834792053416,0.00015632100202791262,0.0031987061866714426,-0.0034330177310363886],"tcp_position_m":[-0.13437497612948246,0.48077023281634695,0.41537902848487607],"tcp_quaternion_wxyz":[-0.00011404120554439879,0.7071035481790889,0.7071099978416585,0.00010049634401841962],"object_position_m":[-0.13444194844299762,0.478946143207685,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.319846867282391e-12,-1.9684625668072232e-11,1.6753500758719771e-18],"object_linear_velocity_m_s":[3.0168024900114666e-11,2.0227500301573944e-12,6.291655935640883e-15],"object_angular_velocity_rad_s":[5.463051031192729e-12,-8.149844913592117e-11,-2.380906797924346e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313480959335398,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698903212447093,-1.5833216644505486,1.3113936972409983,-1.3243253694294237,-1.5707759976184128,0.0009020124097921148,0.0],"actuator_force":[-0.009360418972391926,-19.53052144136518,-19.24259461952215,-2.5166285560883352,0.0005158147557722259,-0.0007150370197014366,-0.2920647553553819],"issued_joint_targets_rad":[-1.5698921452412586,-1.572992400867238,1.3214308453956904,-1.319435253737959,-1.5707791579581623,0.0009038525991576581],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0000000000000007,"joint_targets_rad":[-1.5698921452412586,-1.572992400867238,1.3214308453956904,-1.319435253737959,-1.5707791579581623,0.0009038525991576581],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0199999999999985,"qpos":[-1.5700121137853142,-1.575904629248432,1.3584660231320898,-1.3537275598891993,-1.5707775151061232,0.0007743932018079553,0.0029290662829232904,0.00015583593854827065,0.003190701008442147,-0.003423129484346111,0.0029291288177181163,0.0001563002710755657,0.0031968492953908106,-0.0034314517112075523,-0.13444194844243643,0.4789461432077228,0.2998922445797836,1.0,1.2649579190407089e-12,-1.8866225410369156e-11,1.6533939367703148e-18],"qvel":[0.000652010725541095,0.01272690599429922,-0.1880869565256581,0.17240834359881596,-3.93648272871419e-06,0.0006538188584374283,-7.427040622488068e-05,9.338253554127561e-07,-7.488350752272499e-05,6.500811792596787e-05,-7.414080839368575e-05,1.2401868057187044e-06,-7.347807553088769e-05,6.548575181289559e-05,3.6042375377195775e-11,2.4165746826846597e-12,6.2916559356408825e-15,4.31894128788072e-11,-6.441949479131355e-10,-4.346924269875735e-18],"joint_position_rad":[-1.5700121137853142,-1.575904629248432,1.3584660231320898,-1.3537275598891993,-1.5707775151061232,0.0007743932018079553],"joint_velocity_rad_s":[0.000652010725541095,0.01272690599429922,-0.1880869565256581,0.17240834359881596,-3.93648272871419e-06,0.0006538188584374283],"linkage_position_rad":[0.0029290662829232904,0.00015583593854827065,0.003190701008442147,-0.003423129484346111,0.0029291288177181163,0.0001563002710755657,0.0031968492953908106,-0.0034314517112075523],"tcp_position_m":[-0.1343817366787089,0.4805880048312732,0.4167973231923463],"tcp_quaternion_wxyz":[-0.00013750551759386808,0.7071032960007264,0.7071102421130517,0.00012399984909933955],"object_position_m":[-0.13444194844243643,0.4789461432077228,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2649579190407089e-12,-1.8866225410369156e-11,1.6533939367703148e-18],"object_linear_velocity_m_s":[3.6042375377195775e-11,2.4165746826846597e-12,6.2916559356408825e-15],"object_angular_velocity_rad_s":[4.31894128788072e-11,-6.441949479131355e-10,-4.3469243864798465e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313498484870406,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698891768501544,-1.583146156511979,1.3111809119896993,-1.3242583935889014,-1.5707776263027164,0.0009038513573717018,0.0],"actuator_force":[-0.014930419896700187,-19.573816924813855,-19.335439674517602,-2.506251209732568,0.00033804997622155497,-0.0006528080618695697,-0.2921676989589775],"issued_joint_targets_rad":[-1.5698904859377545,-1.572850181532747,1.3212470099663036,-1.319375416745575,-1.5707806578013224,0.0009055386395984653],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0199999999999985,"joint_targets_rad":[-1.5698904859377545,-1.572850181532747,1.3212470099663036,-1.319375416745575,-1.5707806578013224,0.0009055386395984653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0399999999999963,"qpos":[-1.5699990723115165,-1.575649431462424,1.3548806505297297,-1.3504487934983613,-1.5707777500247693,0.0007869548513688873,0.0029278740150842824,0.00015587878486894376,0.0031893747366820535,-0.0034221717123019916,0.0029279310574505195,0.00015630416241402335,0.003195377579398347,-0.003430521789574699,-0.13444194844188162,0.47894614320776,0.2998922445797836,1.0,1.2044736088582112e-12,-1.796430156292967e-11,1.629000865701991e-18],"qvel":[0.0005877915252341272,0.012351831608600596,-0.1708038201059428,0.15622622851786921,-1.0638447386539879e-05,0.0005988930061469076,-5.081717879686356e-05,1.1264659063437367e-06,-5.352714869848114e-05,4.2470051466826675e-05,-5.067711855790047e-05,1.2243987702051423e-06,-5.3432570191211534e-05,4.1909856640707684e-05,4.599462332459929e-11,3.08386024025684e-12,6.28888037807932e-15,9.798945542325731e-11,-1.461467532943888e-09,-7.936407622998703e-18],"joint_position_rad":[-1.5699990723115165,-1.575649431462424,1.3548806505297297,-1.3504487934983613,-1.5707777500247693,0.0007869548513688873],"joint_velocity_rad_s":[0.0005877915252341272,0.012351831608600596,-0.1708038201059428,0.15622622851786921,-1.0638447386539879e-05,0.0005988930061469076],"linkage_position_rad":[0.0029278740150842824,0.00015587878486894376,0.0031893747366820535,-0.0034221717123019916,0.0029279310574505195,0.00015630416241402335,0.003195377579398347,-0.003430521789574699],"tcp_position_m":[-0.13438781488805032,0.4804241172404796,0.41807722804790437],"tcp_quaternion_wxyz":[-0.0001556141285549875,0.7071031226090962,0.7071104083152775,0.00014224243097577167],"object_position_m":[-0.13444194844188162,0.47894614320776,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2044736088582112e-12,-1.796430156292967e-11,1.629000865701991e-18],"object_linear_velocity_m_s":[4.599462332459929e-11,3.08386024025684e-12,6.28888037807932e-15],"object_angular_velocity_rad_s":[9.798945542325731e-11,-1.461467532943888e-09,-7.93640759689155e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514028313612,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698880639859514,-1.5830006549997335,1.3110035220643734,-1.3241996924335981,-1.5707791260439814,0.0009055378037228802,0.0],"actuator_force":[-0.013099958963266545,-19.6431797180594,-19.432728888335987,-2.49807231940531,0.0003758351325586773,-0.0005978244376942943,-0.2922827821399662],"issued_joint_targets_rad":[-1.569888970314802,-1.572732247584331,1.3210933413107744,-1.3193230550864403,-1.5707820357193987,0.0009070788686638619],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0399999999999963,"joint_targets_rad":[-1.569888970314802,-1.572732247584331,1.3210933413107744,-1.3193230550864403,-1.5707820357193987,0.0009070788686638619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.059999999999994,"qpos":[-1.5699873774108688,-1.5754034333086189,1.3516259981957728,-1.3474779732838746,-1.5707781002660595,0.0007984608745883032,0.0029270919515444276,0.00015591913676461157,0.003188455556234046,-0.0034215907857043453,0.0029271442672176465,0.00015630845548995234,0.003194320235163175,-0.003429971592033839,-0.13444194844129873,0.47894614320779916,0.2998922445797836,1.0,1.1831051088540775e-12,-1.7645553797200117e-11,1.5988961861728442e-18],"qvel":[0.0005289408335501849,0.011888605774322141,-0.15504583460156596,0.14155577871641162,-1.631964929905068e-05,0.0005485640000590381,-3.2308489344782966e-05,1.1222095153312372e-06,-3.537998174372397e-05,2.5174080334513906e-05,-3.221585862986691e-05,1.0199587054597932e-06,-3.604526733435523e-05,2.4541929201929784e-05,2.1530631442935726e-11,1.4435921614842258e-12,6.287492599298537e-15,-4.499699270715028e-11,6.711148843356204e-10,-8.598447821559109e-19],"joint_position_rad":[-1.5699873774108688,-1.5754034333086189,1.3516259981957728,-1.3474779732838746,-1.5707781002660595,0.0007984608745883032],"joint_velocity_rad_s":[0.0005289408335501849,0.011888605774322141,-0.15504583460156596,0.14155577871641162,-1.631964929905068e-05,0.0005485640000590381],"linkage_position_rad":[0.0029270919515444276,0.00015591913676461157,0.003188455556234046,-0.0034215907857043453,0.0029271442672176465,0.00015630845548995234,0.003194320235163175,-0.003429971592033839],"tcp_position_m":[-0.1343932258793007,0.48027677611102854,0.41923188784618504],"tcp_quaternion_wxyz":[-0.0001688791219816434,0.7071030527919361,0.7071104722462352,0.0001557301258469801],"object_position_m":[-0.13444194844129873,0.47894614320779916,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1831051088540775e-12,-1.7645553797200117e-11,1.5988961861728442e-18],"object_linear_velocity_m_s":[2.1530631442935726e-11,1.4435921614842258e-12,6.287492599298537e-15],"object_angular_velocity_rad_s":[-4.499699270715028e-11,6.711148843356204e-10,-8.598447769703924e-19],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313525719550476,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698869945716116,-1.582880167453664,1.3108557894182735,-1.3241482496841441,-1.5707805044032537,0.0009070783581196888,0.0],"actuator_force":[-0.01081065490598121,-19.708910599819774,-19.522083714372002,-2.4907160717758643,0.00042989633277557004,-0.0005476582402109686,-0.2923891891982305],"issued_joint_targets_rad":[-1.5698875871173652,-1.572634355436052,1.3209647665285638,-1.3192772101533787,-1.5707833000026206,0.0009084847307058269],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.059999999999994,"joint_targets_rad":[-1.5698875871173652,-1.572634355436052,1.3209647665285638,-1.3192772101533787,-1.5707833000026206,0.0009084847307058269],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0799999999999919,"qpos":[-1.5699768839635844,-1.575168054397503,1.3486726149810557,-1.344786317003148,-1.5707785447891438,0.0008089995217599154,0.0029266290515174934,0.00015595592628635845,0.00318786433981436,-0.0034212983413354427,0.0029266769737176022,0.00015631182371448224,0.003193600677140573,-0.00342970753781197,-0.1344419484406628,0.4789461432078418,0.2998922445797836,1.0,1.2823555570769668e-12,-1.9125327510920826e-11,1.5554877833332403e-18],"qvel":[0.00047655989784690635,0.011359377459082274,-0.14069247530037984,0.1282557067724712,-2.0905790909007043e-05,0.0005024417404962335,-1.802608565307458e-05,1.0766995646482094e-06,-2.1201587671198135e-05,1.1979512573042543e-05,-1.797189245952318e-05,8.307447714182519e-07,-2.2380271779187418e-05,1.1325820507496355e-05,2.3875199451443216e-11,1.6008327874667645e-12,6.2902681568601e-15,-3.8139809775626054e-11,5.688448358782476e-10,-1.5698580765216405e-18],"joint_position_rad":[-1.5699768839635844,-1.575168054397503,1.3486726149810557,-1.344786317003148,-1.5707785447891438,0.0008089995217599154],"joint_velocity_rad_s":[0.00047655989784690635,0.011359377459082274,-0.14069247530037984,0.1282557067724712,-2.0905790909007043e-05,0.0005024417404962335],"linkage_position_rad":[0.0029266290515174934,0.00015595592628635845,0.00318786433981436,-0.0034212983413354427,0.0029266769737176022,0.00015631182371448224,0.003193600677140573,-0.00342970753781197],"tcp_position_m":[-0.1343980445107161,0.48014428756450345,0.42027354404375494],"tcp_quaternion_wxyz":[-0.00017804673929235393,0.7071030665276378,0.7071104541142647,0.0001651934851229923],"object_position_m":[-0.1344419484406628,0.4789461432078418,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2823555570769668e-12,-1.9125327510920826e-11,1.5554877833332403e-18],"object_linear_velocity_m_s":[2.3875199451443216e-11,1.6008327874667645e-12,6.2902681568601e-15],"object_angular_velocity_rad_s":[-3.8139809775626054e-11,5.688448358782476e-10,-1.5698580265551607e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534153369618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698859754330765,-1.5827803164895775,1.310732670222189,-1.3241031433486699,-1.5707817695814663,0.0009084844788824638,0.0],"actuator_force":[-0.00880689812311175,-19.768275167781667,-19.60289939758104,-2.4839838500080305,0.0004781829296689466,-0.0005016954883491076,-0.2924853113711918],"issued_joint_targets_rad":[-1.5698863253955277,-1.5725529930033373,1.3208570497325878,-1.3192370381682867,-1.570784458728903,0.0009097673334791742],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0799999999999919,"joint_targets_rad":[-1.5698863253955277,-1.5725529930033373,1.3208570497325878,-1.3192370381682867,-1.570784458728903,0.0009097673334791742],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0999999999999897,"qpos":[-1.5699674526479028,-1.5749442521112134,1.3459934584645699,-1.3423477204550807,-1.5707790637833219,0.0008186516366451491,0.0029264104233718167,0.000155989214925546,0.003187526936860397,-0.0034212237371466247,0.0029264542679435846,0.00015631424369375613,0.0031931447229467344,-0.0034296589683940914,-0.1344419484400363,0.47894614320788387,0.2998922445797836,1.0,1.3468687731842822e-12,-2.0087357236674702e-11,1.5066536492176141e-18],"qvel":[0.0004300131808705101,0.010787839321433908,-0.12762786973576556,0.11619893599655229,-2.452229953325616e-05,0.0004601738726890736,-7.149072915794455e-06,1.0204704486494072e-06,-1.0338811871352903e-05,2.025862867409401e-06,-7.124467182807147e-06,6.719832949957492e-07,-1.1874572109361386e-05,1.3709069173602525e-06,2.652392106622983e-11,1.7784430490738566e-12,6.2874925992985365e-15,-2.4373841349876257e-11,3.635227074957441e-10,-2.866182021859506e-18],"joint_position_rad":[-1.5699674526479028,-1.5749442521112134,1.3459934584645699,-1.3423477204550807,-1.5707790637833219,0.0008186516366451491],"joint_velocity_rad_s":[0.0004300131808705101,0.010787839321433908,-0.12762786973576556,0.11619893599655229,-2.452229953325616e-05,0.0004601738726890736],"linkage_position_rad":[0.0029264104233718167,0.000155989214925546,0.003187526936860397,-0.0034212237371466247,0.0029264542679435846,0.00015631424369375613,0.0031931447229467344,-0.0034296589683940914],"tcp_position_m":[-0.13440234242013832,0.4800251273419596,0.4212132768430743],"tcp_quaternion_wxyz":[-0.00018379458829215675,0.7071031431245156,0.7071103745957243,0.0001712952820626846],"object_position_m":[-0.1344419484400363,0.47894614320788387,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3468687731842822e-12,-2.0087357236674702e-11,1.5066536492176141e-18],"object_linear_velocity_m_s":[2.652392106622983e-11,1.7784430490738566e-12,6.2874925992985365e-15],"object_angular_velocity_rad_s":[-2.4373841349876257e-11,3.635227074957441e-10,-2.866181999210217e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931354000890435,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698850107089761,-1.5826974773111386,1.3106299584812031,-1.324063561109919,-1.570782929563461,0.0009097672856848836,0.0],"actuator_force":[-0.007121394494788547,-19.82158612842386,-19.675852072427006,-2.4778139270744077,0.0005193398836809138,-0.00045956274904013217,-0.2925718668652771],"issued_joint_targets_rad":[-1.5698851750061398,-1.5724852715505675,1.3207666767956017,-1.3192018020783645,-1.5707855196318472,0.0009109369599604342],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0999999999999897,"joint_targets_rad":[-1.5698851750061398,-1.5724852715505675,1.3207666767956017,-1.3192018020783645,-1.5707855196318472,0.0009109369599604342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1199999999999875,"qpos":[-1.569958961316036,-1.5747325753589319,1.343563755899364,-1.3401385022536734,-1.5707796400041867,0.0008274913040545055,0.0029263761894861976,0.00015601930309659532,0.0031873831248598384,-0.003421311352835492,0.0029264162587607175,0.00015631588099758494,0.0031928916720449195,-0.003429770390435312,-0.1344419484394253,0.4789461432079248,0.2998922445797836,1.0,1.3687525227247317e-12,-2.0414005771423342e-11,1.453102691477601e-18],"qvel":[0.00038857544922010973,0.010193136608338694,-0.11574369627063621,0.10527017411481492,-2.7302152665864234e-05,0.0004214382313981724,1.015932465395503e-06,9.607840917964202e-07,-2.130065398337202e-06,-5.366493975903905e-06,1.0181033852421575e-06,5.420175265404278e-07,-3.904446684604913e-06,-6.010408878665382e-06,3.0083048556457293e-11,2.0170536137602988e-12,6.3013703871063525e-15,-1.4805894121421815e-12,2.20518663550328e-11,-5.232912079756188e-18],"joint_position_rad":[-1.569958961316036,-1.5747325753589319,1.343563755899364,-1.3401385022536734,-1.5707796400041867,0.0008274913040545055],"joint_velocity_rad_s":[0.00038857544922010973,0.010193136608338694,-0.11574369627063621,0.10527017411481492,-2.7302152665864234e-05,0.0004214382313981724],"linkage_position_rad":[0.0029263761894861976,0.00015601930309659532,0.0031873831248598384,-0.003421311352835492,0.0029264162587607175,0.00015631588099758494,0.0031928916720449195,-0.003429770390435312],"tcp_position_m":[-0.134406182264009,0.47991793133358257,0.42206108029020983],"tcp_quaternion_wxyz":[-0.00018670906934617823,0.7071032655184966,0.7071102506289348,0.00017460895132803396],"object_position_m":[-0.1344419484394253,0.4789461432079248,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3687525227247317e-12,-2.0414005771423342e-11,1.453102691477601e-18],"object_linear_velocity_m_s":[3.0083048556457293e-11,2.0170536137602988e-12,6.3013703871063525e-15],"object_angular_velocity_rad_s":[-1.4805894121421813e-12,2.20518663550328e-11,-5.232912162182389e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313543854118882,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698841026019197,-1.5826286684188948,1.3105441700312388,-1.324028792189593,-1.5707839920028306,0.0009109370713899738,0.0],"actuator_force":[-0.005712751455575926,-19.869440763261537,-19.74169322799571,-2.472162379441329,0.0005542159447031736,-0.0004209394720831039,-0.29264979259159896],"issued_joint_targets_rad":[-1.5698841265966643,-1.5724288161767064,1.3206907349422785,-1.3191708602957777,-1.5707864900662742,0.0009120030888306989],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1199999999999875,"joint_targets_rad":[-1.5698841265966643,-1.5724288161767064,1.3206907349422785,-1.3191708602957777,-1.5707864900662742,0.0009120030888306989],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1399999999999852,"qpos":[-1.569951303826418,-1.5745332523958095,1.3413608452652213,-1.3381371804235191,-1.570780258647458,0.0008355864218417936,0.0029264788201751,0.00015604649491365372,0.00318738488715221,-0.003421517290393766,0.002926515402517518,0.00015631689980403124,0.0031927929683936485,-0.0034299980701367945,-0.13444194843883694,0.4789461432079642,0.2998922445797836,1.0,1.3322699414963792e-12,-1.987003035358602e-11,1.3970137809709152e-18],"qvel":[0.00035160529709991363,0.009590087478515287,-0.10493932614245012,0.09536471177810509,-2.9365236683516276e-05,0.00038593984750268394,7.0319808617963445e-06,8.998614813806834e-07,3.971368508830628e-06,-1.0735573808897005e-05,7.017450655314783e-06,4.360354643506057e-07,2.0501314595271153e-06,-1.1360160453304624e-05,3.554144127122208e-11,2.3830178970178367e-12,6.29998260832557e-15,3.3772733545944146e-11,-5.03710139971598e-10,-9.553970892002638e-18],"joint_position_rad":[-1.569951303826418,-1.5745332523958095,1.3413608452652213,-1.3381371804235191,-1.570780258647458,0.0008355864218417936],"joint_velocity_rad_s":[0.00035160529709991363,0.009590087478515287,-0.10493932614245012,0.09536471177810509,-2.9365236683516276e-05,0.00038593984750268394],"linkage_position_rad":[0.0029264788201751,0.00015604649491365372,0.00318738488715221,-0.003421517290393766,0.002926515402517518,0.00015631689980403124,0.0031927929683936485,-0.0034299980701367945],"tcp_position_m":[-0.13440961834284582,0.47982147893027094,0.42282596537145506],"tcp_quaternion_wxyz":[-0.00018729367364113763,0.7071034200902695,0.7071100956519756,0.00017562681013060265],"object_position_m":[-0.13444194843883694,0.4789461432079642,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3322699414963792e-12,-1.987003035358602e-11,1.3970137809709152e-18],"object_linear_velocity_m_s":[3.554144127122208e-11,2.3830178970178367e-12,6.29998260832557e-15],"object_angular_velocity_rad_s":[3.3772733545944146e-11,-5.03710139971598e-10,-9.553970917278696e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313546146495211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569883251835815,-1.5825714388386767,1.3104724215883456,-1.323998216848778,-1.5707849641871399,0.0009120033228500628,0.0],"actuator_force":[-0.004538137633971928,-19.91240787714014,-19.801116896770964,-2.4669893904400624,0.0005837538274136023,-0.0003855342461338007,-0.2927199582922165],"issued_joint_targets_rad":[-1.569905806501069,-1.5842918905514398,1.3979524820973417,-1.3841889173182573,-1.5708216441218013,0.0008903856004600803],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1399999999999852,"joint_targets_rad":[-1.569905806501069,-1.5842918905514398,1.3979524820973417,-1.3841889173182573,-1.5708216441218013,0.0008903856004600803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.159999999999983,"qpos":[-1.5700034042772866,-1.5751657195824151,1.3407796052124525,-1.3377763060000407,-1.5707831215618404,0.000840941944274948,0.002921094690918273,0.00015408342973756154,0.0031918665749472623,-0.0034108943971508446,0.0029217493931907343,0.000158253949608529,0.0032117258269144934,-0.0034173606088444245,-0.13444194843828183,0.47894614320800144,0.2998922445797836,1.0,1.2126226965431814e-12,-1.8085687705593936e-11,1.3434010379546581e-18],"qvel":[-0.00061003529532816,-0.05544226267944785,0.03738359371907255,-0.05436653788816672,-0.00044314143389388483,0.00025169638551279127,-0.0005530356720815228,-4.040030333743395e-05,-0.0003075506807448212,0.0010139019667432473,-0.0005552835173797988,-0.00013303288022335706,-0.0007047178484226778,0.0008234842333484716,4.45306390200667e-11,2.9856713813216153e-12,6.295819271983225e-15,8.596569443375001e-11,-1.2822044412568723e-09,-1.744310860396342e-17],"joint_position_rad":[-1.5700034042772866,-1.5751657195824151,1.3407796052124525,-1.3377763060000407,-1.5707831215618404,0.000840941944274948],"joint_velocity_rad_s":[-0.00061003529532816,-0.05544226267944785,0.03738359371907255,-0.05436653788816672,-0.00044314143389388483,0.00025169638551279127],"linkage_position_rad":[0.002921094690918273,0.00015408342973756154,0.0031918665749472623,-0.0034108943971508446,0.0029217493931907343,0.000158253949608529,0.0032117258269144934,-0.0034173606088444245],"tcp_position_m":[-0.13438375930082896,0.4796675442223301,0.42337319527452677],"tcp_quaternion_wxyz":[-0.0004880463224161393,0.7071235902542126,0.7070896417778691,0.0004779196826983344],"object_position_m":[-0.13444194843828183,0.47894614320800144,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2126226965431814e-12,-1.8085687705593936e-11,1.3434010379546581e-18],"object_linear_velocity_m_s":[4.45306390200667e-11,2.9856713813216153e-12,6.295819271983225e-15],"object_angular_velocity_rad_s":[8.596569443375001e-11,-1.2822044412568723e-09,-1.7443108766971727e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313278803453832,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699056303945325,-1.5944165967543205,1.3404752300197047,-1.3540016912409005,-1.5708201170047433,0.0008903874632855649,0.0],"actuator_force":[0.43956188363972615,-16.32484927203177,-15.562187873124458,-2.676038831613255,0.02581642193808875,-0.00044687904597068284,-0.28660060825814376],"issued_joint_targets_rad":[-1.5699518104121315,-1.5843631938178484,1.396598441741641,-1.3827690683671685,-1.5708211939115004,0.0008444956680569099],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.159999999999983,"joint_targets_rad":[-1.5699518104121315,-1.5843631938178484,1.396598441741641,-1.3827690683671685,-1.5708211939115004,0.0008444956680569099],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1799999999999808,"qpos":[-1.5699911450261985,-1.5763345312850496,1.3429756162075237,-1.340357102920341,-1.5707883814408146,0.0008415026840354834,0.002908057723536213,0.00015318169826330371,0.003180355158184145,-0.0033919902289395462,0.0029085027311634556,0.00015624666067413654,0.0031962138403938355,-0.00339877242645892,-0.1344419484377128,0.4789461432080395,0.2998922445797836,1.0,1.150230242738867e-12,-1.7155340079454718e-11,1.2772351655007855e-18],"qvel":[0.0011786017820376558,-0.05783671418733202,0.17442933773902625,-0.19389462512507544,-0.00018640015533398578,1.4789609133173918e-05,-0.0006445684245083884,-1.8095610363654803e-05,-0.0006516141340800728,0.0007282920531288962,-0.0006516557018287844,-4.736570327241223e-05,-0.0007454822942458302,0.0007547782179656727,2.1043480804454664e-11,1.410923320388353e-12,6.298594829544788e-15,-4.51933712385615e-11,6.740383607960163e-10,-1.8898174030683104e-18],"joint_position_rad":[-1.5699911450261985,-1.5763345312850496,1.3429756162075237,-1.340357102920341,-1.5707883814408146,0.0008415026840354834],"joint_velocity_rad_s":[0.0011786017820376558,-0.05783671418733202,0.17442933773902625,-0.19389462512507544,-0.00018640015533398578,1.4789609133173918e-05],"linkage_position_rad":[0.002908057723536213,0.00015318169826330371,0.003180355158184145,-0.0033919902289395462,0.0029085027311634556,0.00015624666067413654,0.0031962138403938355,-0.00339877242645892],"tcp_position_m":[-0.1343882890685176,0.479659550848953,0.42313524536057445],"tcp_quaternion_wxyz":[-0.001035922706213256,0.7071188648577766,0.7070931903213322,0.001028604683583766],"object_position_m":[-0.1344419484377128,0.4789461432080395,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.150230242738867e-12,-1.7155340079454718e-11,1.2772351655007855e-18],"object_linear_velocity_m_s":[2.1043480804454664e-11,1.410923320388353e-12,6.298594829544788e-15],"object_angular_velocity_rad_s":[-4.51933712385615e-11,6.740383607960163e-10,-1.889817419759472e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313361231434308,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569950595258057,-1.5944703124455735,1.370472663789993,-1.384004745321646,-1.5708196961769425,0.0008444991040118061,0.0],"actuator_force":[-0.3903411765322744,-13.136876646114615,-14.77763993067174,-2.4343586881449255,0.002982647469480071,1.924907484396332e-05,-0.28434690210329755],"issued_joint_targets_rad":[-1.569944779138908,-1.584473365572929,1.39731370457576,-1.3833846517619195,-1.5708202388052623,0.0008515108240775387],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1799999999999808,"joint_targets_rad":[-1.569944779138908,-1.584473365572929,1.39731370457576,-1.3833846517619195,-1.5708202388052623,0.0008515108240775387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1999999999999786,"qpos":[-1.5699658409620811,-1.577388411337012,1.3475629640903402,-1.344542322090506,-1.5707918302046235,0.000842429208327343,0.0028995257682389516,0.00015421272918815987,0.0031667025731702764,-0.0033864153119102514,0.002899708425557617,0.00015503877234796106,0.0031743660487939585,-0.0033943730182372043,-0.13444194843710555,0.4789461432080804,0.2998922445797836,1.0,1.2189384093778548e-12,-1.8180396746699698e-11,1.18182929030871e-18],"qvel":[0.0016257824398851902,-0.04239230965992626,0.24836589696018865,-0.19702227850750212,-0.00012179114109335115,4.534281522433865e-05,0.00018147177419865806,0.00021103997708046146,-0.0006776753597029574,-0.0009733952273634034,0.00014566409650547084,-3.3531763314831645e-05,-0.001570505190270286,-0.0011042842090857256,2.2769957616851815e-11,1.5266575493333602e-12,6.301370387106352e-15,-3.726536886685381e-11,5.558012950798366e-10,-3.4503450521433954e-18],"joint_position_rad":[-1.5699658409620811,-1.577388411337012,1.3475629640903402,-1.344542322090506,-1.5707918302046235,0.000842429208327343],"joint_velocity_rad_s":[0.0016257824398851902,-0.04239230965992626,0.24836589696018865,-0.19702227850750212,-0.00012179114109335115,4.534281522433865e-05],"linkage_position_rad":[0.0028995257682389516,0.00015421272918815987,0.0031667025731702764,-0.0033864153119102514,0.002899708425557617,0.00015503877234796106,0.0031743660487939585,-0.0033943730182372043],"tcp_position_m":[-0.13439957451202078,0.4796926884716841,0.4218501056629942],"tcp_quaternion_wxyz":[-0.0012653391497437442,0.7071098735365187,0.7071014339859907,0.0012600472053248795],"object_position_m":[-0.13444194843710555,0.4789461432080804,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2189384093778548e-12,-1.8180396746699698e-11,1.18182929030871e-18],"object_linear_velocity_m_s":[2.2769957616851815e-11,1.5266575493333602e-12,6.301370387106352e-15],"object_angular_velocity_rad_s":[-3.726536886685381e-11,5.558012950798366e-10,-3.450345075432109e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313607563183292,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699407483421284,-1.5945763978657126,1.3870886038301193,-1.388216080467585,-1.5708187520797559,0.0008515136754659526,0.0],"actuator_force":[-0.600127736048762,-17.41904919343051,-20.295079304517003,-2.1346513377893643,-0.001281823456793063,7.952046870929319e-06,-0.2915973890433491],"issued_joint_targets_rad":[-1.5699253029363234,-1.5849654773113295,1.4011251751029954,-1.3867092711590234,-1.5708197167160294,0.0008709487644691117],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1999999999999786,"joint_targets_rad":[-1.5699253029363234,-1.5849654773113295,1.4011251751029954,-1.3867092711590234,-1.5708197167160294,0.0008709487644691117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2199999999999764,"qpos":[-1.5699494599085702,-1.5781616417461726,1.3526445246563439,-1.3485634105975794,-1.570793680982433,0.0008450625209641844,0.0029046398365052874,0.00015637961899212012,0.0031643229438166223,-0.0034015305419396254,0.0029045590074873186,0.00015586192302737906,0.003166997070190032,-0.0034101821352426477,-0.1344419484365142,0.4789461432081199,0.2998922445797836,1.0,1.266777278110473e-12,-1.8893991990334992e-11,1.0744988377329797e-18],"qvel":[0.0005298300614383158,-0.033866012888691205,0.24533893245519064,-0.19187727438148183,-9.942779602488634e-05,0.00013041937391344242,0.0003845878317443863,6.365658512124195e-05,0.00016181277890075745,-0.0006745225967077374,0.0003783046713435723,3.181656322462373e-05,3.369801372225885e-05,-0.0007066255999343521,2.4980959591243016e-11,1.6748865333683588e-12,6.30137038710635e-15,-2.3578725048919324e-11,3.516742054827996e-10,-6.2994535246754696e-18],"joint_position_rad":[-1.5699494599085702,-1.5781616417461726,1.3526445246563439,-1.3485634105975794,-1.570793680982433,0.0008450625209641844],"joint_velocity_rad_s":[0.0005298300614383158,-0.033866012888691205,0.24533893245519064,-0.19187727438148183,-9.942779602488634e-05,0.00013041937391344242],"linkage_position_rad":[0.0029046398365052874,0.00015637961899212012,0.0031643229438166223,-0.0034015305419396254,0.0029045590074873186,0.00015586192302737906,0.003166997070190032,-0.0034101821352426477],"tcp_position_m":[-0.13440694132218628,0.4796696874719525,0.4201735540742275],"tcp_quaternion_wxyz":[-0.0011630563498424265,0.7071051883565906,0.7071064673060119,0.0011592209146940513],"object_position_m":[-0.1344419484365142,0.4789461432081199,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.266777278110473e-12,-1.8893991990334992e-11,1.0744988377329797e-18],"object_linear_velocity_m_s":[2.4980959591243016e-11,1.6748865333683588e-12,6.30137038710635e-15],"object_angular_velocity_rad_s":[-2.3578725048919324e-11,3.516742054827996e-10,-6.299453531374296e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931379351950191,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569920982168087,-1.5950621092206065,1.3908910778013006,-1.3915394800030534,-1.5708182340331802,0.0008709510366268868,0.0],"actuator_force":[-0.1549765436088819,-20.25452979339161,-21.642466692162998,-2.3003072645888096,-0.0023337457711249954,-9.76795599930691e-05,-0.29427440471507016],"issued_joint_targets_rad":[-1.5699121459581848,-1.5857343298343243,1.4062264553387802,-1.3910411451896865,-1.5708196814186424,0.0008840857253750548],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2199999999999764,"joint_targets_rad":[-1.5699121459581848,-1.5857343298343243,1.4062264553387802,-1.3910411451896865,-1.5708196814186424,0.0008840857253750548],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2399999999999742,"qpos":[-1.5699448698384544,-1.5788873249517557,1.3577267035182505,-1.352595345522819,-1.5707960874233227,0.0008487407037718138,0.0029098667992965587,0.00015654591330364556,0.0031688768632539685,-0.003407337200133658,0.0029098210415631556,0.00015609859523992947,0.0031715899718471564,-0.0034163709115319013,-0.1344419484359066,0.4789461432081606,0.2998922445797836,1.0,1.3536527696159034e-12,-2.01904137421416e-11,9.403675772559953e-19],"qvel":[0.00042085519850022947,-0.033459884763112215,0.24570839346711174,-0.19329168348551012,-0.0001076154812023274,0.00017839056696980168,0.0003496980297727773,3.572199243023733e-05,0.00019647830765981918,-0.0004789923196799255,0.0003418361000354374,-2.932226484323141e-06,5.890612038801987e-05,-0.0004906616428930225,2.8893676307357167e-11,1.9371480078871265e-12,6.293043714421661e-15,-4.305806976256625e-12,6.416815634831888e-11,-1.1501173017252671e-17],"joint_position_rad":[-1.5699448698384544,-1.5788873249517557,1.3577267035182505,-1.352595345522819,-1.5707960874233227,0.0008487407037718138],"joint_velocity_rad_s":[0.00042085519850022947,-0.033459884763112215,0.24570839346711174,-0.19329168348551012,-0.0001076154812023274,0.00017839056696980168],"linkage_position_rad":[0.0029098667992965587,0.00015654591330364556,0.0031688768632539685,-0.003407337200133658,0.0029098210415631556,0.00015609859523992947,0.0031715899718471564,-0.0034163709115319013],"tcp_position_m":[-0.1344085163303686,0.4796559869621276,0.41847312519161683],"tcp_quaternion_wxyz":[-0.0010473641477418585,0.7071050464864338,0.7071069674154898,0.001045415816375063],"object_position_m":[-0.1344419484359066,0.4789461432081606,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3536527696159034e-12,-2.01904137421416e-11,9.403675772559953e-19],"object_linear_velocity_m_s":[2.8893676307357167e-11,1.9371480078871265e-12,6.293043714421661e-15],"object_angular_velocity_rad_s":[-4.305806976256624e-12,6.416815634831888e-11,-1.1501173166496236e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313763178169826,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699077859965467,-1.5958244428031498,1.395983678405964,-1.3958702525194928,-1.5708182067675116,0.0008840874937914859,0.0],"actuator_force":[-0.09417439558455953,-20.490281797543503,-21.76940761141759,-2.3082851497858883,-0.00029812397417572356,-0.000165661687144103,-0.2944420626920268],"issued_joint_targets_rad":[-1.5699091985118967,-1.5864804584428367,1.4113632879859441,-1.3954310452239866,-1.570819665485895,0.0008870394708097929],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2399999999999742,"joint_targets_rad":[-1.5699091985118967,-1.5864804584428367,1.4113632879859441,-1.3954310452239866,-1.570819665485895,0.0008870394708097929],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.259999999999972,"qpos":[-1.56994123367521,-1.5796115212468151,1.362815014626471,-1.3566602141252078,-1.570798356763003,0.0008523979270386251,0.0029142449845707802,0.00015654979273700388,0.0031731606553910318,-0.003411494875641413,0.0029142021470444507,0.00015610628838757962,0.003175869144015597,-0.0034205541913460125,-0.13444194843530854,0.4789461432082008,0.2998922445797836,1.0,1.365122125078861e-12,-2.0362000057312426e-11,7.978548980833371e-19],"qvel":[0.00040665974626080063,-0.03352351300477038,0.2459782868966943,-0.19492414227013413,-9.761725196600757e-05,0.00017485208887396835,0.0003078273243048788,3.512465230242287e-05,0.00016474093949655992,-0.00043799551594209303,0.0002993822608043929,-4.583930331615458e-06,2.638425482256005e-05,-0.00044404465588245435,3.4490247357917467e-11,2.3123015434129e-12,6.30137038710635e-15,2.6866704257959693e-11,-4.007957506337611e-10,-2.0998244104022132e-17],"joint_position_rad":[-1.56994123367521,-1.5796115212468151,1.362815014626471,-1.3566602141252078,-1.570798356763003,0.0008523979270386251],"joint_velocity_rad_s":[0.00040665974626080063,-0.03352351300477038,0.2459782868966943,-0.19492414227013413,-9.761725196600757e-05,0.00017485208887396835],"linkage_position_rad":[0.0029142449845707802,0.00015654979273700388,0.0031731606553910318,-0.003411494875641413,0.0029142021470444507,0.00015610628838757962,0.003175869144015597,-0.0034205541913460125],"tcp_position_m":[-0.13440966915874286,0.4796428903591295,0.416770504781814],"tcp_quaternion_wxyz":[-0.0009406766181964339,0.7071052036608112,0.7071071075387534,0.0009405059700596558],"object_position_m":[-0.13444194843530854,0.4789461432082008,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.365122125078861e-12,-2.0362000057312426e-11,7.978548980833371e-19],"object_linear_velocity_m_s":[3.4490247357917467e-11,2.3123015434129e-12,6.30137038710635e-15],"object_angular_velocity_rad_s":[2.6866704257959693e-11,-4.007957506337611e-10,-2.0998244254648506e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313724620537127,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699048268337976,-1.5965638408437346,1.4011119716702476,-1.4002591730099585,-1.570818198430311,0.0008870407893960174,0.0],"actuator_force":[-0.08985021567968943,-20.495233991930945,-21.797400671124706,-2.307065215361831,-0.00015910845729649736,-0.0001637777087006853,-0.2944584045063079],"issued_joint_targets_rad":[-1.5699070152476897,-1.5872082894804769,1.4164835680213952,-1.3998228486422601,-1.5708196361401376,0.0008892297691848904],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.259999999999972,"joint_targets_rad":[-1.5699070152476897,-1.5872082894804769,1.4164835680213952,-1.3998228486422601,-1.5708196361401376,0.0008892297691848904],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2799999999999698,"qpos":[-1.5699377207612142,-1.5803360850594994,1.3679067397054638,-1.3607563321876197,-1.5708004134074658,0.0008559181676963801,0.0029178435306660006,0.00015655007834315806,0.0031767373078447673,-0.0034149155601120606,0.0029178002525709354,0.0001561047827763459,0.0031794384237353182,-0.0034239741150007504,-0.13444194843473278,0.4789461432082394,0.2998922445797836,1.0,1.2828558726428082e-12,-1.9135256029854082e-11,6.575030032031363e-19],"qvel":[0.0004006417580302888,-0.03354144752546989,0.24612621405147808,-0.19641662436089016,-8.714234706832337e-05,0.0001681350025905697,0.00027202692973727325,3.4947627541991126e-05,0.00013098172799672352,-0.0004036067634038355,0.00026364293017601333,-4.428805180737467e-06,-6.071129759987574e-06,-0.00040962877002194057,4.304607364237883e-11,2.8858333784525715e-12,6.302758165887132e-15,7.497505277308677e-11,-1.118412806069689e-09,-3.833746279344042e-17],"joint_position_rad":[-1.5699377207612142,-1.5803360850594994,1.3679067397054638,-1.3607563321876197,-1.5708004134074658,0.0008559181676963801],"joint_velocity_rad_s":[0.0004006417580302888,-0.03354144752546989,0.24612621405147808,-0.19641662436089016,-8.714234706832337e-05,0.0001681350025905697],"linkage_position_rad":[0.0029178435306660006,0.00015655007834315806,0.0031767373078447673,-0.0034149155601120606,0.0029178002525709354,0.0001561047827763459,0.0031794384237353182,-0.0034239741150007504],"tcp_position_m":[-0.13441081719142992,0.47962981536783,0.41506774702665356],"tcp_quaternion_wxyz":[-0.0008440431340026575,0.7071053279983385,0.7071072251530296,0.0008454844361531782],"object_position_m":[-0.13444194843473278,0.4789461432082394,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2828558726428082e-12,-1.9135256029854082e-11,6.575030032031363e-19],"object_linear_velocity_m_s":[4.304607364237883e-11,2.8858333784525715e-12,6.302758165887132e-15],"object_angular_velocity_rad_s":[7.497505277308677e-11,-1.118412806069689e-09,-3.83374629846517e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313692021525949,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569902635231248,-1.5972847786276818,1.4062238520941903,-1.404650097011109,-1.570818175967719,0.0008892306816045636,0.0],"actuator_force":[-0.09008564327996282,-20.480808126176726,-21.81626084313848,-2.305219975655632,-0.00016704541974377207,-0.00015724330496524885,-0.29446053846141323],"issued_joint_targets_rad":[-1.5699048634605968,-1.5879178986338527,1.4215821898483045,-1.404211390954051,-1.5708195918684533,0.0008913874187454897],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2799999999999698,"joint_targets_rad":[-1.5699048634605968,-1.5879178986338527,1.4215821898483045,-1.404211390954051,-1.5708195918684533,0.0008913874187454897],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2999999999999676,"qpos":[-1.5699342588486156,-1.5810595121190896,1.3729994502183864,-1.3648805071856713,-1.5708022689188814,0.0008593079410298631,0.0029207933545951524,0.000156549296831939,0.0031796739809458537,-0.0034177166288714513,0.0029207497056654617,0.00015610256673268284,0.0031823697461995375,-0.0034267751875401817,-0.13444194843416732,0.47894614320827733,0.2998922445797836,1.0,1.1658596600510396e-12,-1.7390384162380982e-11,5.120799161967853e-19],"qvel":[0.0003952718024700168,-0.03347600609711889,0.24615844132752476,-0.19775168331891016,-7.748033946181311e-05,0.00016191081332002317,0.00024255026696349977,3.4843526571269313e-05,0.00010283164493190659,-0.000375289505503126,0.00023423786980700232,-4.164031401490382e-06,-3.285964355125874e-05,-0.0003811587605350773,2.12595862898546e-11,1.425257279712899e-12,6.298594829544786e-15,-4.7645358321384665e-11,7.106827875382585e-10,-4.153548049416679e-18],"joint_position_rad":[-1.5699342588486156,-1.5810595121190896,1.3729994502183864,-1.3648805071856713,-1.5708022689188814,0.0008593079410298631],"joint_velocity_rad_s":[0.0003952718024700168,-0.03347600609711889,0.24615844132752476,-0.19775168331891016,-7.748033946181311e-05,0.00016191081332002317],"linkage_position_rad":[0.0029207933545951524,0.000156549296831939,0.0031796739809458537,-0.0034177166288714513,0.0029207497056654617,0.00015610256673268284,0.0031823697461995375,-0.0034267751875401817],"tcp_position_m":[-0.1344119920967764,0.4796167172263876,0.4133650072885598],"tcp_quaternion_wxyz":[-0.0007566571493399946,0.7071054012367799,0.7071073483493395,0.0007595538797706729],"object_position_m":[-0.13444194843416732,0.47894614320827733,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1658596600510396e-12,-1.7390384162380982e-11,5.120799161967853e-19],"object_linear_velocity_m_s":[2.12595862898546e-11,1.425257279712899e-12,6.298594829544786e-15],"object_angular_velocity_rad_s":[-4.7645358321384665e-11,7.106827875382585e-10,-4.1535480788000384e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931366519907568,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5699004763673736,-1.5979873677950478,1.4113142178505333,-1.4090378496435179,-1.570818137904548,0.0008913879640725534,0.0],"actuator_force":[-0.09054375850382712,-20.46530891306884,-21.833841266716263,-2.3035028970322173,-0.00018645888701485092,-0.00015106981065710068,-0.29446109369688317],"issued_joint_targets_rad":[-1.5699026867878292,-1.5886093551554512,1.426658987199247,-1.4085964203429817,-1.5708195339853173,0.0008935688497604417],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2999999999999676,"joint_targets_rad":[-1.5699026867878292,-1.5886093551554512,1.426658987199247,-1.4085964203429817,-1.5708195339853173,0.0008935688497604417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3199999999999654,"qpos":[-1.5699308431614465,-1.5817801726681882,1.3780909616477244,-1.3690297221054564,-1.5708039406588952,0.0008625817640529722,0.0029232107288427542,0.00015654849510411022,0.003182081959195394,-0.0034200115069039647,0.0029231667681464233,0.0001561007434047905,0.0031847740799749837,-0.0034290696814491457,-0.1344419484335356,0.4789461432083197,0.2998922445797836,1.0,1.2454058665165557e-12,-1.8577123624123416e-11,2.7603139967351334e-19],"qvel":[0.00038991819267553964,-0.03333201162082911,0.24608678582117505,-0.19894264564556655,-6.866987696979544e-05,0.00015639237360784861,0.00021839076659426566,3.475985758823331e-05,7.991848605341249e-05,-0.0003521080561174138,0.00021014885197717022,-3.878589404365693e-06,-5.442311014569604e-05,-0.00035782279505851326,2.3071776019526647e-11,1.5467282870297059e-12,6.298594829544785e-15,-4.093084713127067e-11,6.105394226641414e-10,-7.583360056427529e-18],"joint_position_rad":[-1.5699308431614465,-1.5817801726681882,1.3780909616477244,-1.3690297221054564,-1.5708039406588952,0.0008625817640529722],"joint_velocity_rad_s":[0.00038991819267553964,-0.03333201162082911,0.24608678582117505,-0.19894264564556655,-6.866987696979544e-05,0.00015639237360784861],"linkage_position_rad":[0.0029232107288427542,0.00015654849510411022,0.003182081959195394,-0.0034200115069039647,0.0029231667681464233,0.0001561007434047905,0.0031847740799749837,-0.0034290696814491457],"tcp_position_m":[-0.13441319172925417,0.4796035991263278,0.41166228458881005],"tcp_quaternion_wxyz":[-0.0006776413702593042,0.7071054310831328,0.7071074778382365,0.0006818505388901268],"object_position_m":[-0.1344419484335356,0.4789461432083197,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2454058665165557e-12,-1.8577123624123416e-11,2.7603139967351334e-19],"object_linear_velocity_m_s":[2.3071776019526647e-11,1.5467282870297059e-12,6.298594829544785e-15],"object_angular_velocity_rad_s":[-4.093084713127067e-11,6.105394226641414e-10,-7.583360072484474e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313643184807083,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698982935910237,-1.5986717095649954,1.416382906497956,-1.413422170356345,-1.570818085613406,0.0008935690632728167,0.0],"actuator_force":[-0.09086813622479895,-20.45026914528262,-21.850824628006194,-2.301959560887667,-0.00020548955831145577,-0.0001455877508626524,-0.294461572942316],"issued_joint_targets_rad":[-1.5699004881046348,-1.5892827162845227,1.4317141827624258,-1.4129780849727533,-1.570819463929147,0.00089577138485546],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3199999999999654,"joint_targets_rad":[-1.5699004881046348,-1.5892827162845227,1.4317141827624258,-1.4129780849727533,-1.570819463929147,0.00089577138485546],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3399999999999632,"qpos":[-1.5699274744413323,-1.5824965774856257,1.3831793221400752,-1.373201254282377,-1.5708054450416395,0.0008657527873041828,0.0029251917008356024,0.0001565477815419767,0.003184056428415986,-0.0034218919285492087,0.002925147486374558,0.00015609942427193368,0.003186746490578556,-0.0034309494533813706,-0.1344419484329186,0.47894614320836093,0.2998922445797836,1.0,1.3036413638619105e-12,-1.9446002637192368e-11,9.277997615175117e-21],"qvel":[0.00038453298723481157,-0.03311706555564362,0.2459223195869244,-0.20000395126245712,-6.064515815484322e-05,0.0001514998277991992,0.0001985975256477486,3.4677023331760427e-05,6.133053978466073e-05,-0.00033308020737894694,0.000190425273022152,-3.5969686809576206e-06,-7.168139691579042e-05,-0.00033864631132608206,2.5252896317052213e-11,1.6929282286143557e-12,6.298594829544785e-15,-2.856987991421932e-11,4.2615937892463003e-10,-1.3845297264509451e-17],"joint_position_rad":[-1.5699274744413323,-1.5824965774856257,1.3831793221400752,-1.373201254282377,-1.5708054450416395,0.0008657527873041828],"joint_velocity_rad_s":[0.00038453298723481157,-0.03311706555564362,0.2459223195869244,-0.20000395126245712,-6.064515815484322e-05,0.0001514998277991992],"linkage_position_rad":[0.0029251917008356024,0.0001565477815419767,0.003184056428415986,-0.0034218919285492087,0.002925147486374558,0.00015609942427193368,0.003186746490578556,-0.0034309494533813706],"tcp_position_m":[-0.13441441154153674,0.47959046753853,0.40995956604520933],"tcp_quaternion_wxyz":[-0.0006061903730975926,0.7071054259403783,0.7071076121119372,0.0006115817700619643],"object_position_m":[-0.1344419484329186,0.47894614320836093,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3036413638619105e-12,-1.9446002637192368e-11,9.277997615175117e-21],"object_linear_velocity_m_s":[2.5252896317052213e-11,1.6929282286143557e-12,6.298594829544785e-15],"object_angular_velocity_rad_s":[-2.856987991421932e-11,4.2615937892463003e-10,-1.3845297286441835e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313625115995983,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698960896559477,-1.5993378899356834,1.4214301441590955,-1.4178031994660223,-1.570818020587819,0.0008957712984290561,0.0],"actuator_force":[-0.09104362412426781,-20.435798677857747,-21.867283796729225,-2.3005774655769073,-0.00022325727422867203,-0.0001407272174833163,-0.29446207335385755],"issued_joint_targets_rad":[-1.5698982745751293,-1.589938035106109,1.436748020109503,-1.4173565595870654,-1.5708193830312347,0.0008979880346346997],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3399999999999632,"joint_targets_rad":[-1.5698982745751293,-1.589938035106109,1.436748020109503,-1.4173565595870654,-1.5708193830312347,0.0008979880346346997],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.359999999999961,"qpos":[-1.569924153754679,-1.583207385362563,1.3882627898294786,-1.3773926579478515,-1.5708067970826343,0.0008688322513195641,0.0029268150308344506,0.00015654713393785158,0.003185675652075337,-0.0034234326893615016,0.0029267706159290894,0.00015609854866957887,0.0031883650822609666,-0.0034324893391336044,-0.13444194843231902,0.4789461432084011,0.2998922445797836,1.0,1.3297000025420331e-12,-1.9834889939908524e-11,-2.855249242467461e-19],"qvel":[0.000379116833399764,-0.032838290653867744,0.24567503448975853,-0.20094882587348536,-5.333765708356344e-05,0.00014714109890467578,0.00018238344576265123,3.459427547725799e-05,4.628896938306468e-05,-0.00031745565876276695,0.00017427988562457704,-3.3205665064062762e-06,-8.541368359729005e-05,-0.00032287601858919213,2.826347569822254e-11,1.8947410638366684e-12,6.297207050764004e-15,-8.405825495755467e-12,1.2537704832927153e-10,-2.527809314199957e-17],"joint_position_rad":[-1.569924153754679,-1.583207385362563,1.3882627898294786,-1.3773926579478515,-1.5708067970826343,0.0008688322513195641],"joint_velocity_rad_s":[0.000379116833399764,-0.032838290653867744,0.24567503448975853,-0.20094882587348536,-5.333765708356344e-05,0.00014714109890467578],"linkage_position_rad":[0.0029268150308344506,0.00015654713393785158,0.003185675652075337,-0.0034234326893615016,0.0029267706159290894,0.00015609854866957887,0.0031883650822609666,-0.0034324893391336044],"tcp_position_m":[-0.13441564718811191,0.47957732860601643,0.4082568390847281],"tcp_quaternion_wxyz":[-0.0005415752629890586,0.707105393006941,0.707107749596514,0.0005480303702307536],"object_position_m":[-0.13444194843231902,0.4789461432084011,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3297000025420331e-12,-1.9834889939908524e-11,-2.855249242467461e-19],"object_linear_velocity_m_s":[2.826347569822254e-11,1.8947410638366684e-12,6.297207050764004e-15],"object_angular_velocity_rad_s":[-8.405825495755465e-12,1.2537704832927153e-10,-2.527809317152373e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313610279127407,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698938716276556,-1.5999859879009082,1.4264561774522555,-1.422181104619711,-1.5708179442095063,0.0008979876770716661,0.0],"actuator_force":[-0.09108247931317237,-20.421888815143575,-21.883238550349233,-2.299340748581244,-0.0002397977276586971,-0.00013639701441653385,-0.2944625989951131],"issued_joint_targets_rad":[-1.569896053105992,-1.59057536120637,1.4417607331143578,-1.4217320143234615,-1.570819292503302,0.000900212037094787],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.359999999999961,"joint_targets_rad":[-1.569896053105992,-1.59057536120637,1.4417607331143578,-1.4217320143234615,-1.570819292503302,0.000900212037094787],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3799999999999588,"qpos":[-1.5699208820740047,-1.5839113901936954,1.3933398116547537,-1.3816017379521588,-1.5708080104764885,0.0008718296698752386,0.0029281452702331155,0.00015654653127114397,0.00318700379334106,-0.0034246950888524386,0.0029281007026354566,0.00015609805587833312,0.003189693867099825,-0.003433750659833673,-0.13444194843174143,0.4789461432084399,0.2998922445797836,1.0,1.3072080057336799e-12,-1.9499485514915418e-11,-5.987489709934131e-19],"qvel":[0.000373673600003255,-0.03250212432156117,0.24535391380498284,-0.20178921080259873,-4.6684155181443774e-05,0.0001432339733410581,0.0001691028158130149,3.451172873688651e-05,3.415201197120112e-05,-0.00030462111973032617,0.00016106703716049005,-3.0489289699489108e-06,-9.62603231337541e-05,-0.000309898423470924,3.289641959011115e-11,2.205316463473843e-12,6.295819271983222e-15,2.2589969635017245e-11,-3.369866873603836e-10,-4.615134715632224e-17],"joint_position_rad":[-1.5699208820740047,-1.5839113901936954,1.3933398116547537,-1.3816017379521588,-1.5708080104764885,0.0008718296698752386],"joint_velocity_rad_s":[0.000373673600003255,-0.03250212432156117,0.24535391380498284,-0.20178921080259873,-4.6684155181443774e-05,0.0001432339733410581],"linkage_position_rad":[0.0029281452702331155,0.00015654653127114397,0.00318700379334106,-0.0034246950888524386,0.0029281007026354566,0.00015609805587833312,0.003189693867099825,-0.003433750659833673],"tcp_position_m":[-0.13441689470603813,0.47956418790781874,0.406554092343519],"tcp_quaternion_wxyz":[-0.0004831372786832027,0.7071053383109334,0.7071078888493405,0.0004905482422566847],"object_position_m":[-0.13444194843174143,0.4789461432084399,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3072080057336799e-12,-1.9499485514915418e-11,-5.987489709934131e-19],"object_linear_velocity_m_s":[3.289641959011115e-11,2.205316463473843e-12,6.295819271983222e-15],"object_angular_velocity_rad_s":[2.258996963501725e-11,-3.369866873603836e-10,-4.615134719414196e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313598089211649,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698916463243286,-1.6006160763897195,1.4314612429471032,-1.42655604953503,-1.570817857736178,0.0009002114344182503,0.0],"actuator_force":[-0.09099794064877642,-20.408522663423355,-21.89870293729382,-2.2982347111757235,-0.00025521432655750687,-0.00013251506259992496,-0.2944631479082961],"issued_joint_targets_rad":[-1.5698938300267546,-1.591194740858737,1.4467525442987572,-1.426104612728955,-1.5708191934444233,0.0009024371816535868],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3799999999999588,"joint_targets_rad":[-1.5698938300267546,-1.591194740858737,1.4467525442987572,-1.426104612728955,-1.5708191934444233,0.0009024371816535868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3999999999999566,"qpos":[-1.5699176602623186,-1.584607507672609,1.3984090042229411,-1.3858265251754962,-1.5708090977091191,0.0008747530468212696,0.0029292353213999835,0.00015654595693263558,0.003188093431619669,-0.003425729365277672,0.0029291906438287125,0.00015609789346189231,0.0031907852885748834,-0.0034347836740167017,-0.13444194843119397,0.4789461432084766,0.2998922445797836,1.0,1.2128165563980384e-12,-1.809152018713821e-11,-9.072239529487853e-19],"qvel":[0.0003682066568442534,-0.0321143645544332,0.24496703007873,-0.2025358732821585,-4.0626926666885594e-05,0.00013970664924764918,0.0001582263581179098,3.442948138522428e-05,2.439337262517475e-05,-0.00029407375781418754,0.00015025751406614306,-2.7816075733911895e-06,-0.00010474623174158118,-0.0002992104967931957,4.0510028551477205e-11,2.715712164923257e-12,6.304145944667911e-15,6.860712040358849e-11,-1.0234146292222344e-09,-8.426073005944882e-17],"joint_position_rad":[-1.5699176602623186,-1.584607507672609,1.3984090042229411,-1.3858265251754962,-1.5708090977091191,0.0008747530468212696],"joint_velocity_rad_s":[0.0003682066568442534,-0.0321143645544332,0.24496703007873,-0.2025358732821585,-4.0626926666885594e-05,0.00013970664924764918],"linkage_position_rad":[0.0029292353213999835,0.00015654595693263558,0.003188093431619669,-0.003425729365277672,0.0029291906438287125,0.00015609789346189231,0.0031907852885748834,-0.0034347836740167017],"tcp_position_m":[-0.13441815049374986,0.4795510504994685,0.40485131562628873],"tcp_quaternion_wxyz":[-0.00043028111783264606,0.7071052668781951,0.7071080285821555,0.00043854980687512606],"object_position_m":[-0.13444194843119397,0.4789461432084766,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2128165563980384e-12,-1.809152018713821e-11,-9.072239529487853e-19],"object_linear_velocity_m_s":[4.0510028551477205e-11,2.715712164923257e-12,6.304145944667911e-15],"object_angular_velocity_rad_s":[6.860712040358849e-11,-1.0234146292222344e-09,-8.426073007365406e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313588067012211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698894199954312,-1.60122822270574,1.4364455655467607,-1.4309281919522485,-1.5708177623088357,0.0009024363573741734,0.0],"actuator_force":[-0.09080212896287776,-20.39568424448862,-21.91368938385267,-2.297246060160205,-0.0002696071915124776,-0.00012900964831297212,-0.29446371762235507],"issued_joint_targets_rad":[-1.5698916111215506,-1.5917962171630284,1.4517236655198293,-1.430474512163108,-1.5708190868494996,0.0009046577818181918],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3999999999999566,"joint_targets_rad":[-1.5698916111215506,-1.5917962171630284,1.4517236655198293,-1.430474512163108,-1.5708190868494996,0.0009046577818181918],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4199999999999544,"qpos":[-1.5699144890892063,-1.5852947631537544,1.4034691365815233,-1.390065254280152,-1.5708100701634786,0.0008776090711856408,0.002930128539384331,0.00015654539816050374,0.003188987651168479,-0.003426576691276469,0.002930083790035406,0.00015609801644006916,0.0031916823088749924,-0.00343562957279371,-0.13444194843066148,0.4789461432085122,0.2998922445797836,1.0,1.0948459260742925e-12,-1.6331786598785606e-11,-1.2268450004731699e-18],"qvel":[0.00036271865215059567,-0.03168023093776582,0.2445216360039449,-0.2031985204894049,-3.5113305702327196e-05,0.00013649661349883634,0.00014932028713468705,3.434760743456901e-05,1.6581745164722274e-05,-0.0002854014638040483,0.00014141758923866672,-2.518206689212211e-06,-0.00011130145481199317,-0.0002903999376948515,2.0001148197630372e-11,1.340833543813388e-12,6.299982608325567e-15,-4.5026598570850795e-11,6.71660527061191e-10,-9.128959140584855e-18],"joint_position_rad":[-1.5699144890892063,-1.5852947631537544,1.4034691365815233,-1.390065254280152,-1.5708100701634786,0.0008776090711856408],"joint_velocity_rad_s":[0.00036271865215059567,-0.03168023093776582,0.2445216360039449,-0.2031985204894049,-3.5113305702327196e-05,0.00013649661349883634],"linkage_position_rad":[0.002930128539384331,0.00015654539816050374,0.003188987651168479,-0.003426576691276469,0.002930083790035406,0.00015609801644006916,0.0031916823088749924,-0.00343562957279371],"tcp_position_m":[-0.1344194112763302,0.4795379209708596,0.4031484997978366],"tcp_quaternion_wxyz":[-0.0003824688299717561,0.7071051828861294,0.7071081676633615,0.0003915059774817743],"object_position_m":[-0.13444194843066148,0.4789461432085122,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0948459260742925e-12,-1.6331786598785606e-11,-1.2268450004731699e-18],"object_linear_velocity_m_s":[2.0001148197630372e-11,1.340833543813388e-12,6.299982608325567e-15],"object_angular_velocity_rad_s":[-4.5026598570850795e-11,6.71660527061191e-10,-9.128959140599596e-18],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313579819973523,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698871983527312,-1.6018224888943688,1.4414093592084878,-1.4352976839799292,-1.5708176589605998,0.0009046567571751543,0.0],"actuator_force":[-0.09050598791009179,-20.383359106122498,-21.928209147648886,-2.2963628009481454,-0.0002830679903809141,-0.00012581835512692763,-0.29446430585285366],"issued_joint_targets_rad":[-1.5698894016846068,-1.5923798301763448,1.4566742987741703,-1.434841864339337,-1.5708189736175917,0.0009068686234103824],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4199999999999544,"joint_targets_rad":[-1.5698894016846068,-1.5923798301763448,1.4566742987741703,-1.434841864339337,-1.5708189736175917,0.0009068686234103824],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4399999999999522,"qpos":[-1.5699113692476259,-1.585972280695206,1.4085191147143494,-1.3943163436420658,-1.5708109382162223,0.0008804032887299148,0.002930860454779746,0.0001565448453204472,0.0031897217551018157,-0.0034272708098997033,0.0029308156677861352,0.0001560983862254512,0.003192420121526082,-0.003436322116015297,-0.13444194843002813,0.4789461432085547,0.2998922445797836,1.0,1.2243905730811762e-12,-1.8264443653926108e-11,-1.8103937473788413e-18],"qvel":[0.0003572115734505854,-0.03120442133249945,0.24402424645209636,-0.20378590357331328,-3.0095243420025367e-05,0.0001335495136715113,0.00014202908453643984,3.426615480657341e-05,1.0363690638091886e-05,-0.0002782664638703186,0.00013419179777960892,-2.2583844238274718e-06,-0.00011627828214105297,-0.00028312879862309496,2.245959570986748e-11,1.5056211556213307e-12,6.298594829544786e-15,-4.137838620952974e-11,6.172401628487811e-10,-1.6667209697790177e-17],"joint_position_rad":[-1.5699113692476259,-1.585972280695206,1.4085191147143494,-1.3943163436420658,-1.5708109382162223,0.0008804032887299148],"joint_velocity_rad_s":[0.0003572115734505854,-0.03120442133249945,0.24402424645209636,-0.20378590357331328,-3.0095243420025367e-05,0.0001335495136715113],"linkage_position_rad":[0.002930860454779746,0.0001565448453204472,0.0031897217551018157,-0.0034272708098997033,0.0029308156677861352,0.0001560983862254512,0.003192420121526082,-0.003436322116015297],"tcp_position_m":[-0.13442067407275954,0.47952480350055854,0.40144563667899097],"tcp_quaternion_wxyz":[-0.00033921429146071213,0.7071050897949221,0.7071083051142563,0.0003489387100277569],"object_position_m":[-0.13444194843002813,0.4789461432085547,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2243905730811762e-12,-1.8264443653926108e-11,-1.8103937473788413e-18],"object_linear_velocity_m_s":[2.245959570986748e-11,1.5056211556213307e-12,6.298594829544786e-15],"object_angular_velocity_rad_s":[-4.137838620952974e-11,6.172401628487811e-10,-1.6667209718123566e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313573026561721,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698849866251645,-1.6023989320794103,1.446352827777824,-1.4396646725839906,-1.5708175486253684,0.0009068674175897292,0.0],"actuator_force":[-0.09011938445746637,-20.371534235408944,-21.942272453889473,-2.295574113631119,-0.00029568023103365704,-0.00012288693724393784,-0.2944649105398743],"issued_joint_targets_rad":[-1.5698872065726317,-1.592945617037669,1.461604636939042,-1.4392068158228446,-1.5708188545599002,0.0009090649152547332],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4399999999999522,"joint_targets_rad":[-1.5698872065726317,-1.592945617037669,1.461604636939042,-1.4392068158228446,-1.5708188545599002,0.0009090649152547332],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.45999999999995,"qpos":[-1.5699083013690198,-1.5866392731776136,1.413557967589459,-1.3985783772529006,-1.5708117113258786,0.0008831402523216204,0.0029314601857208405,0.00015654429126150745,0.003190324670167328,-0.003427839375245693,0.00293141539156619,0.00015609896965429308,0.0031930275549034264,-0.0034368889730309674,-0.1344419484293985,0.478946143208597,0.2998922445797836,1.0,1.315863548376019e-12,-1.962897569298962e-11,-2.4724717243441507e-18],"qvel":[0.0003516868231068761,-0.030691163161583733,0.2434807123245459,-0.2043059115385484,-2.552890160437926e-05,0.0001308181494071241,0.0001360613776265592,3.418515067070868e-05,5.449585734619557e-06,-0.00027239190875362305,0.0001282888158079741,-2.001845172686433e-06,-0.00011996528925792895,-0.00027712007073429755,2.5053994985551215e-11,1.67954032598675e-12,6.2930437144216596e-15,-3.1733557307730796e-11,4.733759752089948e-10,-3.04301265791444e-17],"joint_position_rad":[-1.5699083013690198,-1.5866392731776136,1.413557967589459,-1.3985783772529006,-1.5708117113258786,0.0008831402523216204],"joint_velocity_rad_s":[0.0003516868231068761,-0.030691163161583733,0.2434807123245459,-0.2043059115385484,-2.552890160437926e-05,0.0001308181494071241],"linkage_position_rad":[0.0029314601857208405,0.00015654429126150745,0.003190324670167328,-0.003427839375245693,0.00293141539156619,0.00015609896965429308,0.0031930275549034264,-0.0034368889730309674],"tcp_position_m":[-0.1344219361661436,0.47951170190529485,0.39974271895202695],"tcp_quaternion_wxyz":[-0.00030007821212000663,0.707104990458787,0.7071084401018016,0.0003104160781466943],"object_position_m":[-0.1344419484293985,0.478946143208597,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.315863548376019e-12,-1.962897569298962e-11,-2.4724717243441507e-18],"object_linear_velocity_m_s":[2.5053994985551215e-11,1.67954032598675e-12,6.2930437144216596e-15],"object_angular_velocity_rad_s":[-3.1733557307730796e-11,4.733759752089948e-10,-3.0430126577213585e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313567423429797,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698827896106298,-1.6029576047732732,1.451276165756898,-1.4440293000381388,-1.5708174321460933,0.0009090635455865302,0.0],"actuator_force":[-0.08965121246228591,-20.36019792668594,-21.955888594940006,-2.2948702387643607,-0.000307519946886714,-0.0001201683082575622,-0.29446552983152424],"issued_joint_targets_rad":[-1.5698850302524003,-1.5934936120854228,1.466514864442228,-1.4435695084762574,-1.570818730407306,0.0009112422441431092],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.45999999999995,"joint_targets_rad":[-1.5698850302524003,-1.5934936120854228,1.466514864442228,-1.4435695084762574,-1.570818730407306,0.0009112422441431092],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4799999999999478,"qpos":[-1.5699052860367364,-1.5872950333950155,1.418584834603639,-1.4028500883990993,-1.5708123981132793,0.0008858236535551786,0.0029319515950850424,0.00015654373079344739,0.0031908200979785424,-0.0034283050511860207,0.002931906820975344,0.0001560997381686544,0.0031935282223227415,-0.003437352821552127,-0.1344419484287789,0.4789461432086386,0.2998922445797836,1.0,1.365519989996112e-12,-2.036962366682874e-11,-3.209124123675616e-18],"qvel":[0.00034614528683712,-0.03014425969146691,0.24289628701981097,-0.2047656558958783,-2.137428300248935e-05,0.0001282615800869095,0.00013117836548141412,3.410460617682936e-05,1.6021056156678908e-06,-0.00026755088291937224,0.0001234698870549362,-1.7483323599410485e-06,-0.00012259884525352583,-0.00027214669260929535,2.817094408059554e-11,1.8884992255344316e-12,6.2888803780793135e-15,-1.3963428904474595e-11,2.0830202553645948e-10,-5.555763281894126e-17],"joint_position_rad":[-1.5699052860367364,-1.5872950333950155,1.418584834603639,-1.4028500883990993,-1.5708123981132793,0.0008858236535551786],"joint_velocity_rad_s":[0.00034614528683712,-0.03014425969146691,0.24289628701981097,-0.2047656558958783,-2.137428300248935e-05,0.0001282615800869095],"linkage_position_rad":[0.0029319515950850424,0.00015654373079344739,0.0031908200979785424,-0.0034283050511860207,0.002931906820975344,0.0001560997381686544,0.0031935282223227415,-0.003437352821552127],"tcp_position_m":[-0.13442319507673087,0.4794986196849878,0.39803974007514775],"tcp_quaternion_wxyz":[-0.0002646636228473393,0.7071048872202921,0.7071085719291919,0.0002755478233411157],"object_position_m":[-0.1344419484287789,0.4789461432086386,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.365519989996112e-12,-2.036962366682874e-11,-3.209124123675616e-18],"object_linear_velocity_m_s":[2.817094408059554e-11,1.8884992255344316e-12,6.2888803780793135e-15],"object_angular_velocity_rad_s":[-1.3963428904474591e-11,2.0830202553645948e-10,-5.555763279736537e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313562794900533,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698806117230126,-1.603498555161964,1.4561795589987303,-1.448391704326348,-1.570817310282591,0.0009112407262799202,0.0],"actuator_force":[-0.08910948728725998,-20.34933965731034,-21.969066017741625,-2.2942423740364575,-0.0003186563556027977,-0.00011762164632012073,-0.29446616206570103],"issued_joint_targets_rad":[-1.5698828768438935,-1.5940238469673653,1.4714051578658762,-1.447930079857705,-1.5708186018174488,0.0009133965337974278],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4799999999999478,"joint_targets_rad":[-1.5698828768438935,-1.5940238469673653,1.4714051578658762,-1.447930079857705,-1.5708186018174488,0.0009133965337974278],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4999999999999456,"qpos":[-1.5699023237979526,-1.5879389260224366,1.4235989542839829,-1.4071303449431074,-1.5708130064349453,0.0008884564378033836,0.0029323542388745,0.0001565431602654488,0.00319122745844855,-0.0034286864118294427,0.0029323095090720377,0.000156100667129194,0.003193941464449069,-0.0034377322482210763,-0.13444194842817678,0.47894614320867884,0.2998922445797836,1.0,1.3631582467522918e-12,-2.0334424788560936e-11,-4.0013958213663135e-18],"qvel":[0.00034058739404756286,-0.029567131781307574,0.24227568625090118,-0.2051715469837129,-1.7594894996544986e-05,0.00012584433639733483,0.00012718433347711427,3.4024520386536744e-05,-1.3732151352112784e-06,-0.0002635573964062651,0.0001195393377926587,-1.4976222401624305e-06,-0.00012437254220201677,-0.00026802253998679646,3.259690636833794e-11,2.1851987836880316e-12,6.293043714421659e-15,1.4590996595280636e-11,-2.176630556807517e-10,-1.0143402798484697e-16],"joint_position_rad":[-1.5699023237979526,-1.5879389260224366,1.4235989542839829,-1.4071303449431074,-1.5708130064349453,0.0008884564378033836],"joint_velocity_rad_s":[0.00034058739404756286,-0.029567131781307574,0.24227568625090118,-0.2051715469837129,-1.7594894996544986e-05,0.00012584433639733483],"linkage_position_rad":[0.0029323542388745,0.0001565431602654488,0.00319122745844855,-0.0034286864118294427,0.0029323095090720377,0.000156100667129194,0.003193941464449069,-0.0034377322482210763],"tcp_position_m":[-0.1344244485374492,0.4794855600637469,0.3963366942052201],"tcp_quaternion_wxyz":[-0.00023261179794666211,0.7071047819903717,0.7071087000251151,0.0002439813344718094],"object_position_m":[-0.13444194842817678,0.47894614320867884,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3631582467522918e-12,-2.0334424788560936e-11,-4.0013958213663135e-18],"object_linear_velocity_m_s":[3.259690636833794e-11,2.1851987836880316e-12,6.293043714421659e-15],"object_angular_velocity_rad_s":[1.4590996595280636e-11,-2.176630556807517e-10,-1.0143402800417999e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313558964348875,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698784570348014,-1.6040218273660425,1.4610631853330953,-1.4527520195017543,-1.5708171837188687,0.0009133948818756805,0.0],"actuator_force":[-0.0885014313166721,-20.338949974689058,-21.9818124021358,-2.2936825809520087,-0.00032915246197262604,-0.00011521160358507476,-0.29446680575367573],"issued_joint_targets_rad":[-1.569880750159468,-1.5945363507424977,1.4762756864903293,-1.4522886635765844,-1.570818469381323,0.0009155240074436798],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4999999999999456,"joint_targets_rad":[-1.569880750159468,-1.5945363507424977,1.4762756864903293,-1.4522886635765844,-1.570818469381323,0.0009155240074436798],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5199999999999434,"qpos":[-1.5698994151742558,-1.5885703803743112,1.428599654120642,-1.411418136049158,-1.5708135434500579,0.0008910409046357212,0.002932684143458773,0.00015654257722762694,0.003191562662925079,-0.0034289986795079945,0.002932639479582158,0.00015610173523724401,0.0031942831215131112,-0.0034380424867111164,-0.1344419484276014,0.4789461432087175,0.2998922445797836,1.0,1.2896897217565224e-12,-1.9238482591337328e-11,-4.800943913671726e-18],"qvel":[0.0003350131704307163,-0.02896285553753258,0.2416231418757509,-0.20552936278275197,-1.4157443341396521e-05,0.00012353572405075932,0.0001239188791755604,3.3944883252570555e-05,-3.6357181957591755e-06,-0.0002602590021274087,0.0001163368030917627,-1.2495188984225648e-06,-0.0001254449227602823,-0.00026459504448959594,3.9622866754461816e-11,2.6561971049795654e-12,6.301370387106347e-15,5.775557287502288e-11,-8.615401618615342e-10,-1.8519289284583391e-16],"joint_position_rad":[-1.5698994151742558,-1.5885703803743112,1.428599654120642,-1.411418136049158,-1.5708135434500579,0.0008910409046357212],"joint_velocity_rad_s":[0.0003350131704307163,-0.02896285553753258,0.2416231418757509,-0.20552936278275197,-1.4157443341396521e-05,0.00012353572405075932],"linkage_position_rad":[0.002932684143458773,0.00015654257722762694,0.003191562662925079,-0.0034289986795079945,0.002932639479582158,0.00015610173523724401,0.0031942831215131112,-0.0034380424867111164],"tcp_position_m":[-0.13442569447172545,0.47947252602725426,0.3946335761279901],"tcp_quaternion_wxyz":[-0.00020359857030771065,0.7071046763162319,0.70710882393238,0.00021539801515071936],"object_position_m":[-0.1344419484276014,0.4789461432087175,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2896897217565224e-12,-1.9238482591337328e-11,-4.800943913671726e-18],"object_linear_velocity_m_s":[3.9622866754461816e-11,2.6561971049795654e-12,6.301370387106347e-15],"object_angular_velocity_rad_s":[5.775557287502288e-11,-8.615401618615342e-10,-1.8519289282565056e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313555787140848,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569876329315767,-1.6045274616788119,1.465927215130166,-1.4571103760068653,-1.5708170530699443,0.0009155222342295765,0.0],"actuator_force":[-0.0878335511943078,-20.32902039398823,-21.994134731252416,-2.2931837005785383,-0.0003390656091823985,-0.00011290760814830492,-0.2944674595633832],"issued_joint_targets_rad":[-1.5698786537394793,-1.59503114997485,1.481126612783537,-1.4566453896117513,-1.570818333629388,0.0009176211536280067],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5199999999999434,"joint_targets_rad":[-1.5698786537394793,-1.59503114997485,1.481126612783537,-1.4566453896117513,-1.570818333629388,0.0009176211536280067],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5399999999999412,"qpos":[-1.5698965606710613,-1.5891888838760957,1.433586341417516,-1.4157125602115803,-1.5708140156815835,0.0008935787953187305,0.0029329544425605336,0.00015654198015933868,0.0031918387477635948,-0.003429254329591934,0.0029329098638543947,0.00015610292404889814,0.003194566166061183,-0.0034382960226485896,-0.13444194842706675,0.47894614320875334,0.2998922445797836,1.0,1.1156042771415157e-12,-1.6641597934638616e-11,-5.503424680421701e-18],"qvel":[0.00032942228348106924,-0.028334196270744082,0.24094245033827524,-0.20584431096482508,-1.103155311121548e-05,0.00012130920913287599,0.00012125054104060181,3.3865678086554756e-05,-5.3159607854098944e-06,-0.00025753074503516535,0.00011373085587803661,-1.0038498893971232e-06,-0.0001259458120856604,-0.00026173913857971973,2.0359846769652443e-11,1.364863568107286e-12,6.295819271983221e-15,-4.7729751915071045e-11,7.119901105686211e-10,-2.0064133676961176e-17],"joint_position_rad":[-1.5698965606710613,-1.5891888838760957,1.433586341417516,-1.4157125602115803,-1.5708140156815835,0.0008935787953187305],"joint_velocity_rad_s":[0.00032942228348106924,-0.028334196270744082,0.24094245033827524,-0.20584431096482508,-1.103155311121548e-05,0.00012130920913287599],"linkage_position_rad":[0.0029329544425605336,0.00015654198015933868,0.0031918387477635948,-0.003429254329591934,0.0029329098638543947,0.00015610292404889814,0.003194566166061183,-0.0034382960226485896],"tcp_position_m":[-0.13442693097335595,0.4794595203569273,0.3929303811950732],"tcp_quaternion_wxyz":[-0.0001773310016053937,0.707104571438998,0.7071089432963956,0.00018951000162788716],"object_position_m":[-0.13444194842706675,0.47894614320875334,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1156042771415157e-12,-1.6641597934638616e-11,-5.503424680421701e-18],"object_linear_velocity_m_s":[2.0359846769652443e-11,1.364863568107286e-12,6.295819271983221e-15],"object_angular_velocity_rad_s":[-4.772975191507104e-11,7.119901105686211e-10,-2.006413367721769e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313553144848187,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698742320681323,-1.6050154947830673,1.4707718118077455,-1.4614669009595056,-1.5708169188881633,0.0009176192706494487,0.0],"actuator_force":[-0.08711170753440456,-20.319543305645766,-22.006039354851055,-2.292739277480223,-0.0003484479788085082,-0.00011068324792851136,-0.29446812230533964],"issued_joint_targets_rad":[-1.56987659088475,-1.595508268819173,1.485958092841166,-1.461000384596341,-1.5708181950372135,0.0009196846949392957],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5399999999999412,"joint_targets_rad":[-1.56987659088475,-1.595508268819173,1.485958092841166,-1.461000384596341,-1.5708181950372135,0.0009196846949392957],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.559999999999939,"qpos":[-1.5698937607860177,-1.5897939761789792,1.4385584950589447,-1.4200128144576132,-1.570814429072073,0.000896071368916874,0.002933175899292857,0.00015654136825209278,0.0031920663935268018,-0.0034294635861749257,0.0029331314228701368,0.00015610421756369046,0.0031948012214096824,-0.0034385030893840604,-0.13444194842644935,0.47894614320879475,0.2998922445797836,1.0,1.191885674929173e-12,-1.7779715375195267e-11,-6.785978595943423e-18],"qvel":[0.00032381408160042955,-0.027683639114190393,0.240237016258166,-0.20612108484345248,-8.189514302825456e-06,0.00011914187571206237,0.00011907157665140158,3.378688340254332e-05,-6.520911483692896e-06,-0.0002552702032703754,0.00011161378544618158,-7.604627328789806e-07,-0.00012598150696505322,-0.0002593522985264686,2.1967077984687468e-11,1.4725920542976014e-12,6.291655935640875e-15,-4.2007520830948235e-11,6.266321564441652e-10,-3.6632088113262936e-17],"joint_position_rad":[-1.5698937607860177,-1.5897939761789792,1.4385584950589447,-1.4200128144576132,-1.570814429072073,0.000896071368916874],"joint_velocity_rad_s":[0.00032381408160042955,-0.027683639114190393,0.240237016258166,-0.20612108484345248,-8.189514302825456e-06,0.00011914187571206237],"linkage_position_rad":[0.002933175899292857,0.00015654136825209278,0.0031920663935268018,-0.0034294635861749257,0.0029331314228701368,0.00015610421756369046,0.0031948012214096824,-0.0034385030893840604],"tcp_position_m":[-0.13442815628822602,0.47944654566120903,0.3912271052670764],"tcp_quaternion_wxyz":[-0.00015354437332003085,0.7071044683426677,0.7071090578538539,0.00016605719737232494],"object_position_m":[-0.13444194842644935,0.47894614320879475,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.191885674929173e-12,-1.7779715375195267e-11,-6.785978595943423e-18],"object_linear_velocity_m_s":[2.1967077984687468e-11,1.4725920542976014e-12,6.291655935640875e-15],"object_angular_velocity_rad_s":[-4.200752083094823e-11,6.266321564441652e-10,-3.663208812900949e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313550940508074,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698721685586232,-1.6054859599477311,1.4755971322873829,-1.4658217184084066,-1.5708167816690313,0.0009196827126051531,0.0],"actuator_force":[-0.08634117785095441,-20.3105118918279,-22.017532046389988,-2.2923434910513834,-0.0003573470489754982,-0.00010851572706666035,-0.2944687929186376],"issued_joint_targets_rad":[-1.5698745646862526,-1.595967729098663,1.4907702767820585,-1.4653537720729488,-1.57081805403066,0.0009217115593149047],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.559999999999939,"joint_targets_rad":[-1.5698745646862526,-1.595967729098663,1.4907702767820585,-1.4653537720729488,-1.57081805403066,0.0009217115593149047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5799999999999368,"qpos":[-1.5698910160165385,-1.5903852438544188,1.4435156581006332,-1.4243181846093247,-1.5708147890345987,0.0008985194683357787,0.002933357333991175,0.00015654074123650893,0.003192254350453187,-0.003429634828318442,0.00293331297505095,0.00015610560187827668,0.003194996986454348,-0.0034386720743267685,-0.13444194842584709,0.4789461432088352,0.2998922445797836,1.0,1.2518629619274834e-12,-1.867498823903894e-11,-8.241129093378875e-18],"qvel":[0.00031818762723836834,-0.027013416628696295,0.2395098916540485,-0.20636391382760833,-5.606049725905102e-06,0.00011701394729934954,0.00011729368312937526,3.370847441961545e-05,-7.338207981218637e-06,-0.00025339342327043913,0.00010989731816549717,-5.192219295885699e-07,-0.00012563902727092037,-0.00025735047688732,2.390401877583116e-11,1.6023905828056282e-12,6.294431493202437e-15,-3.140895601340521e-11,4.68522696246119e-10,-6.688096580911254e-17],"joint_position_rad":[-1.5698910160165385,-1.5903852438544188,1.4435156581006332,-1.4243181846093247,-1.5708147890345987,0.0008985194683357787],"joint_velocity_rad_s":[0.00031818762723836834,-0.027013416628696295,0.2395098916540485,-0.20636391382760833,-5.606049725905102e-06,0.00011701394729934954],"linkage_position_rad":[0.002933357333991175,0.00015654074123650893,0.003192254350453187,-0.003429634828318442,0.00293331297505095,0.00015610560187827668,0.003194996986454348,-0.0034386720743267685],"tcp_position_m":[-0.13442936879768883,0.47943360440432536,0.3895237446622691],"tcp_quaternion_wxyz":[-0.00013199946768181094,0.7071043677956849,0.7071091674218589,0.00014480459379352816],"object_position_m":[-0.13444194842584709,0.4789461432088352,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2518629619274834e-12,-1.867498823903894e-11,-8.241129093378875e-18],"object_linear_velocity_m_s":[2.390401877583116e-11,1.6023905828056282e-12,6.294431493202437e-15],"object_angular_velocity_rad_s":[-3.14089560134052e-11,4.68522696246119e-10,-6.688096588046034e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313549094739493,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698701418477665,-1.6059388872056877,1.4804033274042054,-1.470174949561903,-1.5708166418565657,0.000921709487022838,0.0],"actuator_force":[-0.08552671335110063,-20.30192005105937,-22.02861805447492,-2.291991093528395,-0.00036580601079094777,-0.00010638538640528328,-0.29446947045858063],"issued_joint_targets_rad":[-1.5698725780523133,-1.5964095503748992,1.4955633091032174,-1.4697056727224542,-1.5708179109906333,0.0009236988536471734],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5799999999999368,"joint_targets_rad":[-1.5698725780523133,-1.5964095503748992,1.4955633091032174,-1.4697056727224542,-1.5708179109906333,0.0009236988536471734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5999999999999346,"qpos":[-1.569888326866583,-1.5909623156113808,1.4484574311022242,-1.4286280365006159,-1.5708151004992577,0.0009009235774938175,0.0029335059748387413,0.00015654009924478046,0.0031924097871125455,-0.0034297749229811364,0.00293346174686195,0.0001561070648918695,0.0031951605837232722,-0.003438809851961088,-0.13444194842526164,0.47894614320887435,0.2998922445797836,1.0,1.2850187158152924e-12,-1.9169778385087192e-11,-9.860185377799365e-18],"qvel":[0.0003125417246593676,-0.02632553368766244,0.2387638112361298,-0.20657660892040972,-3.258103268348912e-06,0.00011490836474230471,0.0001158444897493206,3.363042419420934e-05,-7.839646499440371e-06,-0.00025183158836298317,0.00010850911033930597,-2.8000639920998486e-07,-0.00012498960029663246,-0.0002556647722307464,2.6535296549160205e-11,1.7787587845485332e-12,6.294431493202438e-15,-1.3938438220404616e-11,2.0792485719295342e-10,-1.221077371493352e-16],"joint_position_rad":[-1.569888326866583,-1.5909623156113808,1.4484574311022242,-1.4286280365006159,-1.5708151004992577,0.0009009235774938175],"joint_velocity_rad_s":[0.0003125417246593676,-0.02632553368766244,0.2387638112361298,-0.20657660892040972,-3.258103268348912e-06,0.00011490836474230471],"linkage_position_rad":[0.0029335059748387413,0.00015654009924478046,0.0031924097871125455,-0.0034297749229811364,0.00293346174686195,0.0001561070648918695,0.0031951605837232722,-0.003438809851961088],"tcp_position_m":[-0.13443056700343978,0.4794206989328042,0.38782029611026536],"tcp_quaternion_wxyz":[-0.00011248011060379637,0.7071042703862394,0.7071092718876726,0.0001255398494981643],"object_position_m":[-0.13444194842526164,0.47894614320887435,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2850187158152924e-12,-1.9169778385087192e-11,-9.860185377799365e-18],"object_linear_velocity_m_s":[2.6535296549160205e-11,1.7787587845485332e-12,6.294431493202438e-15],"object_angular_velocity_rad_s":[-1.3938438220404606e-11,2.0792485719295342e-10,-1.2210773716821269e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313547542561412,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698681548167417,-1.606374303514054,1.4851905422747977,-1.4745267129927688,-1.5708164998482075,0.0009236966998810998,0.0],"actuator_force":[-0.08467259018107143,-20.29376233028188,-22.03930214930506,-2.2916773540354143,-0.00037386414817319746,-0.00010427528058931657,-0.29447015408547766],"issued_joint_targets_rad":[-1.56987063373364,-1.5968337500102128,1.5003373289981232,-1.4740562045694388,-1.570817766257425,0.0009256438394352612],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5999999999999346,"joint_targets_rad":[-1.56987063373364,-1.5968337500102128,1.5003373289981232,-1.4740562045694388,-1.570817766257425,0.0009256438394352612],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6199999999999324,"qpos":[-1.5698856938528127,-1.5915248579847479,1.4533834661271723,-1.4329418080555394,-1.5708153679556265,0.0009032838706697072,0.002933627745218046,0.00015653944270190107,0.0031925385761130956,-0.0034298894978819277,0.0029335836601434616,0.00015610859605743007,0.0031952978445517776,-0.003438922056780917,-0.13444194842466345,0.47894614320891443,0.2998922445797836,1.0,1.3511550028579526e-12,-2.0156527193987247e-11,-1.1856558673328535e-17],"qvel":[0.00030687494276165374,-0.025621789907413543,0.2380012241610701,-0.20676260375108813,-1.1246465599583553e-06,0.00011281041397059806,0.00011466468335543388,3.355270448786137e-05,-8.084041366034771e-06,-0.0002505282888705851,0.00010738987385499311,-4.270734778645274e-08,-0.00012409151506264515,-0.00025423869579051613,3.116384403658622e-11,2.0890016739168274e-12,6.293043714421657e-15,1.0909267617531487e-11,-1.6275431118801006e-10,-2.229373646775261e-16],"joint_position_rad":[-1.5698856938528127,-1.5915248579847479,1.4533834661271723,-1.4329418080555394,-1.5708153679556265,0.0009032838706697072],"joint_velocity_rad_s":[0.00030687494276165374,-0.025621789907413543,0.2380012241610701,-0.20676260375108813,-1.1246465599583553e-06,0.00011281041397059806],"linkage_position_rad":[0.002933627745218046,0.00015653944270190107,0.0031925385761130956,-0.0034298894978819277,0.0029335836601434616,0.00015610859605743007,0.0031952978445517776,-0.003438922056780917],"tcp_position_m":[-0.1344317495137241,0.4794078315000493,0.3861167567102409],"tcp_quaternion_wxyz":[-9.47909513643876e-05,0.7071041765522414,0.7071093711991716,0.00010807110314098546],"object_position_m":[-0.13444194842466345,0.47894614320891443,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3511550028579526e-12,-2.0156527193987247e-11,-1.1856558673328535e-17],"object_linear_velocity_m_s":[3.116384403658622e-11,2.0890016739168274e-12,6.293043714421657e-15],"object_angular_velocity_rad_s":[1.0909267617531494e-11,-1.6275431118801006e-10,-2.229373647042309e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313546230786043,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698662101920866,-1.6067922328980704,1.48995891662708,-1.4788771248219155,-1.5708163559993036,0.0009256416118534549,0.0],"actuator_force":[-0.08378265565261245,-20.286033863679677,-22.04958866461311,-2.291398008079227,-0.00038155718254984095,-0.00010217080518598598,-0.2944708430541275],"issued_joint_targets_rad":[-1.5698687343464446,-1.5972403432227025,1.505092470641758,-1.4784054831667797,-1.570817620134672,0.000927543910219431],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6199999999999324,"joint_targets_rad":[-1.5698687343464446,-1.5972403432227025,1.505092470641758,-1.4784054831667797,-1.570817620134672,0.000927543910219431],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6399999999999302,"qpos":[-1.5698831175102153,-1.5920725714483694,1.4582934613430034,-1.437259002143401,-1.5708155954915162,0.0009056002549482092,0.0029337274992056878,0.00015653877224020176,0.003192645528222951,-0.0034299831651257557,0.0029336835675880485,0.00015611018616879319,0.0031954135427181155,-0.003439013306979295,-0.13444194842407856,0.47894614320895373,0.2998922445797836,1.0,1.329720329960341e-12,-1.98367637215971e-11,-1.3912439671105836e-17],"qvel":[0.00030118563334349325,-0.024903799862464146,0.23722432260238605,-0.20692499158003594,8.134974988722804e-07,0.00011070739760776526,0.00011370565242771485,3.347528643941777e-05,-8.119568671471484e-06,-0.00024943728410676023,0.00010649102044136928,1.9277340295262694e-07,-0.00012299246181458458,-0.00025302593606044057,3.81816582677226e-11,2.5594475250579226e-12,6.299982608325566e-15,4.960120998105242e-11,-7.399361889354602e-10,-4.070290567743133e-16],"joint_position_rad":[-1.5698831175102153,-1.5920725714483694,1.4582934613430034,-1.437259002143401,-1.5708155954915162,0.0009056002549482092],"joint_velocity_rad_s":[0.00030118563334349325,-0.024903799862464146,0.23722432260238605,-0.20692499158003594,8.134974988722804e-07,0.00011070739760776526],"linkage_position_rad":[0.0029337274992056878,0.00015653877224020176,0.003192645528222951,-0.0034299831651257557,0.0029336835675880485,0.00015611018616879319,0.0031954135427181155,-0.003439013306979295],"tcp_position_m":[-0.1344329150307443,0.4793950042892315,0.38441312389324345],"tcp_quaternion_wxyz":[-7.875545623465082e-05,0.7071040866067565,0.7071094653560733,9.22249973303622e-05],"object_position_m":[-0.13444194842407856,0.47894614320895373,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.329720329960341e-12,-1.98367637215971e-11,-1.3912439671105836e-17],"object_linear_velocity_m_s":[3.81816582677226e-11,2.5594475250579226e-12,6.299982608325566e-15],"object_angular_velocity_rad_s":[4.9601209981052416e-11,-7.399361889354602e-10,-4.070290567357345e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313545115883379,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569864310568527,-1.60719269657969,1.4947085850956914,-1.483226298883325,-1.5708162106271972,0.0009275416157341538,0.0],"actuator_force":[-0.08286036996105395,-20.278730317655572,-22.05948153557847,-2.291149211958327,-0.0003889175903850628,-0.00010005936780427271,-0.29447153670403226],"issued_joint_targets_rad":[-1.5698668823938977,-1.5976293431340873,1.5098288634453512,-1.482753621761711,-1.5708174728929551,0.0009293965705853656],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6399999999999302,"joint_targets_rad":[-1.5698668823938977,-1.5976293431340873,1.5098288634453512,-1.482753621761711,-1.5708174728929551,0.0009293965705853656],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.659999999999928,"qpos":[-1.569880598397312,-1.5926051869107896,1.4631871561617253,-1.4415791801344238,-1.5708157868283579,0.0009078724065770302,0.0029338092145690256,0.0001565380886324071,0.0031927345842162596,-0.0034300597044700475,0.0029337654457212052,0.00015611182718069553,0.00319551158586069,-0.0034390873877892837,-0.1344419484235223,0.47894614320899104,0.2998922445797836,1.0,1.1971494365768451e-12,-1.7858959535340165e-11,-1.5805917272390123e-17],"qvel":[0.0002954719452092428,-0.024173011301813867,0.23643506745420986,-0.20706655867334042,2.5738159416703295e-06,0.00010858834526924594,0.00011292755627992995,3.3398141050867974e-05,-7.985686799863675e-06,-0.00024852066798432146,0.00010577273106935355,4.2652507483970703e-07,-0.00012173144811996958,-0.0002519885209496701,4.925063532962591e-11,3.3015188124049873e-12,6.3027581658871295e-15,1.0817727270249086e-10,-1.6136637391640768e-09,-7.431366657066887e-16],"joint_position_rad":[-1.569880598397312,-1.5926051869107896,1.4631871561617253,-1.4415791801344238,-1.5708157868283579,0.0009078724065770302],"joint_velocity_rad_s":[0.0002954719452092428,-0.024173011301813867,0.23643506745420986,-0.20706655867334042,2.5738159416703295e-06,0.00010858834526924594],"linkage_position_rad":[0.0029338092145690256,0.0001565380886324071,0.0031927345842162596,-0.0034300597044700475,0.0029337654457212052,0.00015611182718069553,0.00319551158586069,-0.0034390873877892837],"tcp_position_m":[-0.1344340623391309,0.47938221943473747,0.3827093953882015],"tcp_quaternion_wxyz":[-6.421409542683143e-05,0.7071040007595768,0.7071095544019486,7.784489322098665e-05],"object_position_m":[-0.1344419484235223,0.47894614320899104,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1971494365768451e-12,-1.7858959535340165e-11,-1.5805917272390123e-17],"object_linear_velocity_m_s":[4.925063532962591e-11,3.3015188124049873e-12,6.3027581658871295e-15],"object_angular_velocity_rad_s":[1.0817727270249084e-10,-1.6136637391640768e-09,-7.431366654328894e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313544162231761,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698624584301653,-1.607575713091841,1.4994396774860137,-1.4875743468723204,-1.570816064014945,0.0009293942154348385,0.0],"actuator_force":[-0.08190884379018826,-20.27184784137762,-22.068984333106982,-2.2909275016143056,-0.0003959748876241065,-9.793009802039343e-05,-0.294472234451258],"issued_joint_targets_rad":[-1.5698650802861671,-1.5980007608105922,1.514546632283535,-1.4871007314454165,-1.570817324773071,0.0009311994165147058],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.659999999999928,"joint_targets_rad":[-1.5698650802861671,-1.5980007608105922,1.514546632283535,-1.4871007314454165,-1.570817324773071,0.0009311994165147058],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6799999999999258,"qpos":[-1.5698781371010277,-1.5931224625557616,1.4680643268661626,-1.4459019560872677,-1.570815945353498,0.0009100998019486759,0.002933876150932852,0.0001565373927397707,0.0031928089720768137,-0.003430122213529051,0.0029338325530536224,0.00015611351205365825,0.0031955951722888337,-0.0034391474017342566,-0.1344419484229121,0.47894614320903195,0.2998922445797836,1.0,1.210141115873833e-12,-1.805239867755168e-11,-1.862481147357833e-17],"qvel":[0.00028973183433572675,-0.023430721561474712,0.23563521145445407,-0.2071898144040889,4.1722529341700855e-06,0.00010644375781086317,0.00011229774256900229,3.332123956178527e-05,-7.714710249842166e-06,-0.00024774736590740424,0.00010520237361382208,6.586290961397987e-07,-0.00012034036961111552,-0.0002510953166249367,2.2171338497743183e-11,1.4862488218653476e-12,6.298594829544786e-15,-4.484806658593355e-11,6.690359707282717e-10,-8.051275129623292e-17],"joint_position_rad":[-1.5698781371010277,-1.5931224625557616,1.4680643268661626,-1.4459019560872677,-1.570815945353498,0.0009100998019486759],"joint_velocity_rad_s":[0.00028973183433572675,-0.023430721561474712,0.23563521145445407,-0.2071898144040889,4.1722529341700855e-06,0.00010644375781086317],"linkage_position_rad":[0.002933876150932852,0.0001565373927397707,0.0031928089720768137,-0.003430122213529051,0.0029338325530536224,0.00015611351205365825,0.0031955951722888337,-0.0034391474017342566],"tcp_position_m":[-0.13443519029536496,0.47936947904242094,0.3810055691912704],"tcp_quaternion_wxyz":[-5.102270474973917e-05,0.7071039191355065,0.7071096384170154,6.478925739697139e-05],"object_position_m":[-0.1344419484229121,0.47894614320903195,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.210141115873833e-12,-1.805239867755168e-11,-1.862481147357833e-17],"object_linear_velocity_m_s":[2.2171338497743183e-11,1.4862488218653476e-12,6.298594829544786e-15],"object_angular_velocity_rad_s":[-4.484806658593352e-11,6.690359707282717e-10,-8.051275127071642e-17],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135433406849,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698606561702746,-1.6079412983792594,1.5041523190096306,-1.491921378479065,-1.570815916414698,0.0009311970063281565,0.0],"actuator_force":[-0.08093087222778195,-20.265383022405786,-22.078100294845626,-2.2907297554896786,-0.0004027558934467379,-9.577359134599339e-05,-0.2944729357802378],"issued_joint_targets_rad":[-1.5698633303592366,-1.5983546052969673,1.5192458976962508,-1.4914469212879287,-1.5708171759889986,0.0009329501168776928],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6799999999999258,"joint_targets_rad":[-1.5698633303592366,-1.5983546052969673,1.5192458976962508,-1.4914469212879287,-1.5708171759889986,0.0009329501168776928],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6999999999999236,"qpos":[-1.5698757342413072,-1.5936241809933713,1.472924782673397,-1.4502269915064447,-1.570816074149682,0.0009122817438329411,0.0029339309794020737,0.00015653668547197688,0.003192871335810884,-0.0034301732308686696,0.0029338875596909794,0.00015611523462257158,0.003195666919450579,-0.0034391958917827817,-0.13444194842228552,0.47894614320907397,0.2998922445797836,1.0,1.2822239860841694e-12,-1.9127607061829836e-11,-2.2232184432508087e-17],"qvel":[0.0002839630704004788,-0.022678092349024563,0.23482631998444572,-0.20729701840225934,5.6233442424345594e-06,0.00010426538133636283,0.00011178945033019953,3.324455363229698e-05,-7.333099766414326e-06,-0.00024709190306975847,0.00010475320605814812,8.891602415915363e-07,-0.00011884529623974495,-0.00025032079270753633,2.4172651565519566e-11,1.6204168922840717e-12,6.294431493202442e-15,-3.561860215094376e-11,5.313453657222762e-10,-1.4699574313017596e-16],"joint_position_rad":[-1.5698757342413072,-1.5936241809933713,1.472924782673397,-1.4502269915064447,-1.570816074149682,0.0009122817438329411],"joint_velocity_rad_s":[0.0002839630704004788,-0.022678092349024563,0.23482631998444572,-0.20729701840225934,5.6233442424345594e-06,0.00010426538133636283],"linkage_position_rad":[0.0029339309794020737,0.00015653668547197688,0.003192871335810884,-0.0034301732308686696,0.0029338875596909794,0.00015611523462257158,0.003195666919450579,-0.0034391958917827817],"tcp_position_m":[-0.13443629781803884,0.47935678520886643,0.3793016435381914],"tcp_quaternion_wxyz":[-3.9051005123792296e-05,0.707103841789836,0.7071097175116928,5.293020441580145e-05],"object_position_m":[-0.13444194842228552,0.47894614320907397,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2822239860841694e-12,-1.9127607061829836e-11,-2.2232184432508087e-17],"object_linear_velocity_m_s":[2.4172651565519566e-11,1.6204168922840717e-12,6.294431493202442e-15],"object_angular_velocity_rad_s":[-3.561860215094373e-11,5.313453657222762e-10,-1.469957431198824e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313542627397993,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569858906109901,-1.6082894658866327,1.50884663049366,-1.4962675015089009,-1.5708157680507673,0.0009329476567341414,0.0],"actuator_force":[-0.07992896534733518,-20.259332846913367,-22.086832353252703,-2.2905531610020944,-0.0004092849668495546,-9.358168303619241e-05,-0.29447364023659445],"issued_joint_targets_rad":[-1.5698616348927223,-1.5986908836437395,1.523926776067482,-1.495792298459976,-1.5708170267305825,0.0009346463958833527],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6999999999999236,"joint_targets_rad":[-1.5698616348927223,-1.5986908836437395,1.523926776067482,-1.495792298459976,-1.5708170267305825,0.0009346463958833527],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7199999999999214,"qpos":[-1.5698733904755684,-1.594110146690908,1.4777683621913549,-1.4545539906137666,-1.570816176021961,0.0009144173834079506,0.002933975888790802,0.0001565359677569193,0.0031929238409978988,-0.0034302148368931416,0.002933932653551374,0.00015611698948290876,0.0031957289691640738,-0.0034392349422803325,-0.1344419484216744,0.47894614320911494,0.2998922445797836,1.0,1.3271681341896252e-12,-1.9797714483358323e-11,-2.6269596348850584e-17],"qvel":[0.000278163239832119,-0.021916163058884625,0.23400978977638426,-0.20739020504350883,6.940340069177149e-06,0.00010204600726412876,0.00011138074705495149,3.316805563951003e-05,-6.8625188810067146e-06,-0.0002465333935879529,0.00010440331369474497,1.1181875138220305e-06,-0.00011726752628997327,-0.0002496440136871407,2.6726183947289148e-11,1.79162846346142e-12,6.291655935640879e-15,-1.9661697609565595e-11,2.9332070500035327e-10,-2.6837758985888055e-16],"joint_position_rad":[-1.5698733904755684,-1.594110146690908,1.4777683621913549,-1.4545539906137666,-1.570816176021961,0.0009144173834079506],"joint_velocity_rad_s":[0.000278163239832119,-0.021916163058884625,0.23400978977638426,-0.20739020504350883,6.940340069177149e-06,0.00010204600726412876],"linkage_position_rad":[0.002933975888790802,0.0001565359677569193,0.0031929238409978988,-0.0034302148368931416,0.002933932653551374,0.00015611698948290876,0.0031957289691640738,-0.0034392349422803325],"tcp_position_m":[-0.134437383878857,0.479344140039883,0.37759761687936294],"tcp_quaternion_wxyz":[-2.8181264749148277e-05,0.7071037687214294,0.7071097918208746,4.215217998714608e-05],"object_position_m":[-0.1344419484216744,0.47894614320911494,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3271681341896252e-12,-1.9797714483358323e-11,-2.6269596348850584e-17],"object_linear_velocity_m_s":[2.6726183947289148e-11,1.79162846346142e-12,6.291655935640879e-15],"object_angular_velocity_rad_s":[-1.966169760956557e-11,2.9332070500035327e-10,-2.6837758980044607e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313542002866378,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698572105154789,-1.608620226634728,1.5135227285661286,-1.500612821991032,-1.5708156191223976,0.0009346438903647385,0.0],"actuator_force":[-0.07890537575394774,-20.253694664085742,-22.09518316100639,-2.2903951842819197,-0.0004155842252657749,-9.13472480189581e-05,-0.2944743474208573],"issued_joint_targets_rad":[-1.5698599961268815,-1.5990096009276933,1.5285893797825791,-1.5001369683431922,-1.570816877165964,0.0009362860162853109],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7199999999999214,"joint_targets_rad":[-1.5698599961268815,-1.5990096009276933,1.5285893797825791,-1.5001369683431922,-1.570816877165964,0.0009362860162853109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7399999999999192,"qpos":[-1.5698711065030588,-1.5945801836556366,1.4825949302289418,-1.4588826960834538,-1.570816253522251,0.000916505738565875,0.0029340126726798534,0.00015653524051781033,0.0031929682612745567,-0.0034302487365269027,0.0029339696274123983,0.000156118771893699,0.003195783073823334,-0.0034392662616733478,-0.1344419484210824,0.47894614320915463,0.2998922445797836,1.0,1.3318506628308203e-12,-1.986740593697142e-11,-3.0657381675857647e-17],"qvel":[0.00027232974551242743,-0.02114586276112013,0.23318686573645564,-0.207471205538319,8.135317242709058e-06,9.977929502825785e-05,0.00011105365750113043,3.309171864028216e-05,-6.32070048561668e-06,-0.00024605471392274254,0.00010413473807879168,1.34577501562531e-06,-0.00011562445009205747,-0.00024904780939978815,3.044773730737257e-11,2.041120941895755e-12,6.2888803780793174e-15,5.564567302572404e-12,-8.299999302635547e-11,-4.899892859891958e-16],"joint_position_rad":[-1.5698711065030588,-1.5945801836556366,1.4825949302289418,-1.4588826960834538,-1.570816253522251,0.000916505738565875],"joint_velocity_rad_s":[0.00027232974551242743,-0.02114586276112013,0.23318686573645564,-0.207471205538319,8.135317242709058e-06,9.977929502825785e-05],"linkage_position_rad":[0.0029340126726798534,0.00015653524051781033,0.0031929682612745567,-0.0034302487365269027,0.0029339696274123983,0.000156118771893699,0.003195783073823334,-0.0034392662616733478],"tcp_position_m":[-0.13443844749428208,0.479331545668433,0.3758934878573714],"tcp_quaternion_wxyz":[-1.830709018581139e-05,0.7071036998837655,0.7071098614988812,3.235077122575693e-05],"object_position_m":[-0.1344419484210824,0.47894614320915463,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3318506628308203e-12,-1.986740593697142e-11,-3.0657381675857647e-17],"object_linear_velocity_m_s":[3.044773730737257e-11,2.041120941895755e-12,6.2888803780793174e-15],"object_angular_velocity_rad_s":[5.564567302572418e-12,-8.299999302635547e-11,-4.899892859693523e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313541451137959,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698555716156608,-1.6089335892850203,1.518180725819228,-1.5049574442768288,-1.5708154698062806,0.0009362834695245024,0.0],"actuator_force":[-0.07786212340897691,-20.24846615431943,-22.10315511400995,-2.2902535428555666,-0.0004216737390834169,-8.906402351210874e-05,-0.29447505698251225],"issued_joint_targets_rad":[-1.5698584162790064,-1.5993107602655197,1.5332338173656708,-1.5044810346299387,-1.5708167274437754,0.000937866763174452],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7399999999999192,"joint_targets_rad":[-1.5698584162790064,-1.5993107602655197,1.5332338173656708,-1.5044810346299387,-1.5708167274437754,0.000937866763174452],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.759999999999917,"qpos":[-1.5698688830691911,-1.5950341333443059,1.487404374924073,-1.463212885195474,-1.5708163089717417,0.0009185457089074704,0.0029340428007620617,0.00015653450465648154,0.003193006049197436,-0.003430276326970991,0.002933999950247009,0.00015612057769330486,0.003195830667004787,-0.0034392912503111803,-0.13444194842051596,0.47894614320919254,0.2998922445797836,1.0,1.2767857072291555e-12,-1.9045910551949446e-11,-3.5175943703554405e-17],"qvel":[0.0002664598031684555,-0.020368020992427946,0.23235865607029366,-0.2075416678572042,9.219281723402027e-06,9.745961446945922e-05,0.00011079344972323891,3.301551651455553e-05,-5.722156475903778e-06,-0.0002456418233431943,0.00010393276316690364,1.571982612023221e-06,-0.0001139302570674226,-0.0002485180975904903,3.638701150813333e-11,2.439282269376046e-12,6.293043714421662e-15,4.363000761823688e-11,-6.508151463725051e-10,-8.945957205408781e-16],"joint_position_rad":[-1.5698688830691911,-1.5950341333443059,1.487404374924073,-1.463212885195474,-1.5708163089717417,0.0009185457089074704],"joint_velocity_rad_s":[0.0002664598031684555,-0.020368020992427946,0.23235865607029366,-0.2075416678572042,9.219281723402027e-06,9.745961446945922e-05],"linkage_position_rad":[0.0029340428007620617,0.00015653450465648154,0.003193006049197436,-0.003430276326970991,0.002933999950247009,0.00015612057769330486,0.003195830667004787,-0.0034392912503111803],"tcp_position_m":[-0.13443948771774186,0.47931900427219604,0.37418925528671954],"tcp_quaternion_wxyz":[-9.332333907923638e-06,0.7071036351942432,0.7071099267150414,2.34316316968868e-05],"object_position_m":[-0.13444194842051596,0.47894614320919254,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2767857072291555e-12,-1.9045910551949446e-11,-3.5175943703554405e-17],"object_linear_velocity_m_s":[3.638701150813333e-11,2.439282269376046e-12,6.293043714421662e-15],"object_angular_velocity_rad_s":[4.3630007618236864e-11,-6.508151463725051e-10,-8.94595720497387e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540959168382,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569853991617549,-1.6092295601932258,1.5228207309520243,-1.5093014711288886,-1.5708153202588246,0.0009378641788986316,0.0],"actuator_force":[-0.07680101798314354,-20.243645300868593,-22.11075037221508,-2.290126180986931,-0.00042757171377161285,-8.672645136525992e-05,-0.29447576861490427],"issued_joint_targets_rad":[-1.5698568975593903,-1.5995943628204836,1.5378601935984473,-1.5088245994139131,-1.5708165776951202,0.0009393864281575228],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.759999999999917,"joint_targets_rad":[-1.5698568975593903,-1.5995943628204836,1.5378601935984473,-1.5088245994139131,-1.5708165776951202,0.0009393864281575228],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7799999999999148,"qpos":[-1.5698667209699344,-1.595471852776694,1.4921966051574498,-1.4675443663661567,-1.5708163444813452,0.0009205360877807822,0.002934067477311183,0.0001565337610412974,0.0031930383943039905,-0.0034302987532396382,0.00293402482568402,0.00015612240322752528,0.0031958729213021537,-0.0034393110560071907,-0.13444194841998608,0.47894614320922807,0.2998922445797836,1.0,1.1343191002609557e-12,-1.6920694992409153e-11,-3.9337551430787856e-17],"qvel":[0.00026055043452528215,-0.019583377465050438,0.2315261458787498,-0.20760307470466477,1.0202262217896103e-05,9.508190510618338e-05,0.00011058804983430334,3.293942394229606e-05,-5.078759650840023e-06,-0.00024528320867206444,0.00010378533018333674,1.796866413867979e-06,-0.00011219651526663902,-0.00024804332572083803,4.632193666191471e-11,3.1053090659473936e-12,6.284717041736973e-15,9.946144902111456e-11,-1.4836640365621754e-09,-1.6333081414907568e-15],"joint_position_rad":[-1.5698667209699344,-1.595471852776694,1.4921966051574498,-1.4675443663661567,-1.5708163444813452,0.0009205360877807822],"joint_velocity_rad_s":[0.00026055043452528215,-0.019583377465050438,0.2315261458787498,-0.20760307470466477,1.0202262217896103e-05,9.508190510618338e-05],"linkage_position_rad":[0.002934067477311183,0.0001565337610412974,0.0031930383943039905,-0.0034302987532396382,0.00293402482568402,0.00015612240322752528,0.0031958729213021537,-0.0034393110560071907],"tcp_position_m":[-0.13444050363231114,0.4793065180909722,0.37248491813555296],"tcp_quaternion_wxyz":[-1.1701071263435147e-06,0.7071035745420001,0.7071099876498531,1.530951019332801e-05],"object_position_m":[-0.13444194841998608,0.47894614320922807,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1343191002609557e-12,-1.6920694992409153e-11,-3.9337551430787856e-17],"object_linear_velocity_m_s":[4.632193666191471e-11,3.1053090659473936e-12,6.284717041736973e-15],"object_angular_velocity_rad_s":[9.94614490211145e-11,-1.4836640365621754e-09,-1.6333081414739821e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540516292866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698524727225152,-1.609508143452023,1.5274428488939698,-1.5136450038019162,-1.5708151706182045,0.0009393838097273918,0.0],"actuator_force":[-0.07572367897137156,-20.23923036463748,-22.1179708784598,-2.290011247413304,-0.0004332946515432923,-8.432953731357662e-05,-0.2944764820498484],"issued_joint_targets_rad":[-1.569855442187062,-1.5998604078018637,1.5424686096212743,-1.513167763272497,-1.57081642803536,0.0009408427937502541],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7799999999999148,"joint_targets_rad":[-1.569855442187062,-1.5998604078018637,1.5424686096212743,-1.513167763272497,-1.57081642803536,0.0009408427937502541],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7999999999999126,"qpos":[-1.5698646210563227,-1.595893212832636,1.4969715482231232,-1.471876976019129,-1.5708163619703484,0.0009224755716687225,0.0029340876890977196,0.0001565330104990424,0.003193066270683053,-0.003430316953672238,0.002934045239916252,0.00015612424528656108,0.0031959107956901858,-0.003439326619595265,-0.13444194841941157,0.4789461432092665,0.2998922445797836,1.0,1.1368171067591944e-12,-1.695793873975021e-11,-4.553307828194794e-17],"qvel":[0.0002545984570687778,-0.0187925907976396,0.23069020937435888,-0.2076567597332784,1.1093395694014498e-05,9.264154988088586e-05,0.00011042756246663339,3.2863416387811126e-05,-4.4002198566130315e-06,-0.0002449694275640988,0.00010368255819022238,2.0204794357286677e-06,-0.00011043264625213337,-0.00024761401689348477,2.0864703839387065e-11,1.3987161319499518e-12,6.287492599298536e-15,-4.246972246933729e-11,6.335214937504321e-10,-1.7695563772714445e-16],"joint_position_rad":[-1.5698646210563227,-1.595893212832636,1.4969715482231232,-1.471876976019129,-1.5708163619703484,0.0009224755716687225],"joint_velocity_rad_s":[0.0002545984570687778,-0.0187925907976396,0.23069020937435888,-0.2076567597332784,1.1093395694014498e-05,9.264154988088586e-05],"linkage_position_rad":[0.0029340876890977196,0.0001565330104990424,0.003193066270683053,-0.003430316953672238,0.002934045239916252,0.00015612424528656108,0.0031959107956901858,-0.003439326619595265],"tcp_position_m":[-0.13444149434379646,0.47929408944411533,0.3707804755091728],"tcp_quaternion_wxyz":[6.258112284807288e-06,0.707103517794454,0.707110044491674,7.907373212514238e-06],"object_position_m":[-0.13444194841941157,0.4789461432092665,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1368171067591944e-12,-1.695793873975021e-11,-4.553307828194794e-17],"object_linear_velocity_m_s":[2.0864703839387065e-11,1.3987161319499518e-12,6.287492599298536e-15],"object_angular_velocity_rad_s":[-4.2469722469337224e-11,6.335214937504321e-10,-1.7695563772890512e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540113793697,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698510171418032,-1.6097693409230887,1.532047180910232,-1.5179881421162786,-1.57081502100621,0.0009408401441954583,0.0],"actuator_force":[-0.07463155378854935,-20.2352198618496,-22.124818375525592,-2.289907075247015,-0.00043885750017125247,-8.186872472071283e-05,-0.29447719705398284],"issued_joint_targets_rad":[-1.5698540524054752,-1.6001088924567992,1.54705916301744,-1.5175106253417974,-1.5708162785657243,0.0009422336178007773],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7999999999999126,"joint_targets_rad":[-1.5698540524054752,-1.6001088924567992,1.54705916301744,-1.5175106253417974,-1.5708162785657243,0.0009422336178007773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8199999999999104,"qpos":[-1.5698625842391694,-1.596298096713977,1.5017291477297032,-1.4762105757632698,-1.5708163631834327,0.0009243627671834155,0.0029341042446565536,0.00015653225380932834,0.0031930904759494973,-0.003430331697231906,0.002934062000961345,0.00015612610105105517,0.0031959450743164245,-0.0034393387122518587,-0.13444194841878457,0.4789461432093086,0.2998922445797836,1.0,1.2618798727394323e-12,-1.8823531783748834e-11,-5.4466513167482236e-17],"qvel":[0.0002486004704073993,-0.017996246361465584,0.22985162085381655,-0.20770392217091618,1.1901005475056477e-05,9.013426114831844e-05,0.00011030387763877833,3.278747004331518e-05,-3.694475162553629e-06,-0.00024469273577021675,0.00010361635104131496,2.242871997692297e-06,-0.00010864631306893773,-0.0002472223939797336,2.3483937830776025e-11,1.5743005228772893e-12,6.2902681568601e-15,-3.642888746207364e-11,5.434114406007062e-10,-3.2307679479108207e-16],"joint_position_rad":[-1.5698625842391694,-1.596298096713977,1.5017291477297032,-1.4762105757632698,-1.5708163631834327,0.0009243627671834155],"joint_velocity_rad_s":[0.0002486004704073993,-0.017996246361465584,0.22985162085381655,-0.20770392217091618,1.1901005475056477e-05,9.013426114831844e-05],"linkage_position_rad":[0.0029341042446565536,0.00015653225380932834,0.0031930904759494973,-0.003430331697231906,0.002934062000961345,0.00015612610105105517,0.0031959450743164245,-0.0034393387122518587],"tcp_position_m":[-0.13444245897414253,0.479281720748228,0.36907592663516353],"tcp_quaternion_wxyz":[1.3023285908063304e-05,0.7071034648027789,0.7071100974338885,1.1556121068701081e-06],"object_position_m":[-0.13444194841878457,0.4789461432093086,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2618798727394323e-12,-1.8823531783748834e-11,-5.4466513167482236e-17],"object_linear_velocity_m_s":[2.3483937830776025e-11,1.5743005228772893e-12,6.2902681568601e-15],"object_angular_velocity_rad_s":[-3.6428887462073567e-11,5.434114406007062e-10,-3.23076794791805e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353974454618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698496271120983,-1.6100131522584396,1.5366338246897,-1.5223309845251005,-1.5708148715299126,0.0009422309398519187,0.0],"actuator_force":[-0.07352593402083585,-20.231612544338986,-22.131294421532857,-2.28981216382374,-0.0004442737874796876,-7.933978058027868e-05,-0.2944779134242954],"issued_joint_targets_rad":[-1.5698527304983694,-1.6003398120540562,1.5516319478810034,-1.521853283385138,-1.5708161293747598,0.0009435566177085082],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8199999999999104,"joint_targets_rad":[-1.5698527304983694,-1.6003398120540562,1.5516319478810034,-1.521853283385138,-1.5708161293747598,0.0009435566177085082],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8399999999999082,"qpos":[-1.5698606114940477,-1.5966863985546347,1.5064693617086347,-1.4805450498476291,-1.5708163497061942,0.0009261961958782216,0.0029341178064668638,0.00015653149170165108,0.003193111663176105,-0.003430343614074219,0.0029340757708354575,0.0001561279680448134,0.0031959763982649,-0.0034393479660913048,-0.13444194841816162,0.4789461432093505,0.2998922445797836,1.0,1.3427203730494663e-12,-2.002950680453216e-11,-6.451652773214555e-17],"qvel":[0.00024255283887598706,-0.017194863325672136,0.22901106454735787,-0.20774564001661414,1.2632672565874174e-05,8.755597665426629e-05,0.00011021034860407583,3.2711561776897454e-05,-2.9680114400073537e-06,-0.00024444677983883315,0.00010358007531921817,2.4640921012434787e-06,-0.00010684373902780551,-0.00024686207424700696,2.642525645462459e-11,1.771471886089005e-12,6.293043714421666e-15,-2.3429780201888272e-11,3.4950187735036026e-10,-5.898570359812113e-16],"joint_position_rad":[-1.5698606114940477,-1.5966863985546347,1.5064693617086347,-1.4805450498476291,-1.5708163497061942,0.0009261961958782216],"joint_velocity_rad_s":[0.00024255283887598706,-0.017194863325672136,0.22901106454735787,-0.20774564001661414,1.2632672565874174e-05,8.755597665426629e-05],"linkage_position_rad":[0.0029341178064668638,0.00015653149170165108,0.003193111663176105,-0.003430343614074219,0.0029340757708354575,0.0001561279680448134,0.0031959763982649,-0.0034393479660913048],"tcp_position_m":[-0.13444339665509353,0.47926941453531585,0.36737127084997206],"tcp_quaternion_wxyz":[1.9189543241897184e-05,0.707103415406443,0.707110146672509,-5.008673275906061e-06],"object_position_m":[-0.13444194841816162,0.4789461432093505,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3427203730494663e-12,-2.002950680453216e-11,-6.451652773214555e-17],"object_linear_velocity_m_s":[2.642525645462459e-11,1.771471886089005e-12,6.293043714421666e-15],"object_angular_velocity_rad_s":[-2.3429780201888204e-11,3.4950187735036026e-10,-5.898570359885129e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539402728696,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698483049112824,-1.6102395749109013,1.5412028744161803,-1.5266736281755742,-1.5708147222831683,0.0009435539138260691,0.0],"actuator_force":[-0.07240797001986721,-20.228407382264777,-22.137400403851643,-2.2897251623111288,-0.0004495557436712261,-7.67386915028756e-05,-0.29447863098473254],"issued_joint_targets_rad":[-1.56985147880601,-1.6005531598590639,1.5561870548685228,-1.5261958338557524,-1.5708159805396325,0.0009448094542670801],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8399999999999082,"joint_targets_rad":[-1.56985147880601,-1.6005531598590639,1.5561870548685228,-1.5261958338557524,-1.5708159805396325,0.0009448094542670801],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.859999999999906,"qpos":[-1.569858703866636,-1.5970580221635367,1.5111921609082355,-1.4848803028662099,-1.5708163229792953,0.0009279742970513958,0.00293412891732341,0.0001565307248536451,0.00319313036705129,-0.003430353220602644,0.0029340870919190042,0.00015612984409379366,0.003196005291568162,-0.0034393548992411507,-0.1344419484175499,0.47894614320939144,0.2998922445797836,1.0,1.373384946917459e-12,-2.048689403557578e-11,-7.553729516551125e-17],"qvel":[0.00023645167024265737,-0.016388900976392527,0.22816914345343337,-0.20778288194576525,1.3295300767640378e-05,8.490276376032455e-05,0.00011014152779515849,3.2635669036724806e-05,-2.226124852028946e-06,-0.00024422634755957097,0.00010356829636656194,2.68418582162649e-06,-0.00010502996814051394,-0.0002465278177943992,3.0188772740047904e-11,2.0237806034008336e-12,6.290268156860103e-15,-8.797254800872924e-13,1.3126388277139825e-11,-1.0769321555650393e-15],"joint_position_rad":[-1.569858703866636,-1.5970580221635367,1.5111921609082355,-1.4848803028662099,-1.5708163229792953,0.0009279742970513958],"joint_velocity_rad_s":[0.00023645167024265737,-0.016388900976392527,0.22816914345343337,-0.20778288194576525,1.3295300767640378e-05,8.490276376032455e-05],"linkage_position_rad":[0.00293412891732341,0.0001565307248536451,0.00319313036705129,-0.003430353220602644,0.0029340870919190042,0.00015612984409379366,0.003196005291568162,-0.0034393548992411507],"tcp_position_m":[-0.1344443065220311,0.4792571734716424,0.36566650758678904],"tcp_quaternion_wxyz":[2.4814839982238198e-05,0.7071033694369694,0.7071101924041604,-1.0642321848328203e-05],"object_position_m":[-0.1344419484175499,0.47894614320939144,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.373384946917459e-12,-2.048689403557578e-11,-7.553729516551125e-17],"object_linear_velocity_m_s":[3.0188772740047904e-11,2.0237806034008336e-12,6.290268156860103e-15],"object_angular_velocity_rad_s":[-8.797254800872462e-13,1.3126388277139828e-11,-1.0769321555555566e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539083585372,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569847052874576,-1.6104486041333457,1.5457544208231033,-1.5310161689651658,-1.5708145733479661,0.0009448067266675592,0.0],"actuator_force":[-0.07127868397719794,-20.22560354906136,-22.143137551637665,-2.289644854901553,-0.00045471441217159736,-7.406156795075614e-05,-0.2944793495829294],"issued_joint_targets_rad":[-1.569850299742052,-1.600748927099406,1.5607245712346387,-1.5305383719543173,-1.570815832127302,0.0009459897148649658],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.859999999999906,"joint_targets_rad":[-1.569850299742052,-1.600748927099406,1.5607245712346387,-1.5305383719543173,-1.570815832127302,0.0009459897148649658],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8799999999999037,"qpos":[-1.5698568624784979,-1.5974128798866047,1.5158975272542259,-1.4892162576881829,-1.570816284311372,0.0009296954286735706,0.0029341380219478686,0.0001565299538913734,0.0031931470253120675,-0.003430360939995347,0.002934096408562931,0.00015613172729048673,0.0031960321825039986,-0.0034393599364024347,-0.13444194841695847,0.4789461432094311,0.2998922445797836,1.0,1.340922508412693e-12,-2.0002536207998677e-11,-8.708037887190875e-17],"qvel":[0.0002302927899669682,-0.015578764376492544,0.22732638725539556,-0.2078165180511943,1.3895176125758782e-05,8.217072990143238e-05,0.00011009295040056249,3.2559769785081535e-05,-1.4731362296432696e-06,-0.0002440271597469809,0.00010357656193868777,2.9031976094420514e-06,-0.00010320907795214754,-0.00024621532127943317,3.5793525719372276e-11,2.399512677002286e-12,6.293043714421665e-15,3.440359695823643e-11,-5.13177004232156e-10,-1.9662042282621105e-15],"joint_position_rad":[-1.5698568624784979,-1.5974128798866047,1.5158975272542259,-1.4892162576881829,-1.570816284311372,0.0009296954286735706],"joint_velocity_rad_s":[0.0002302927899669682,-0.015578764376492544,0.22732638725539556,-0.2078165180511943,1.3895176125758782e-05,8.217072990143238e-05],"linkage_position_rad":[0.0029341380219478686,0.0001565299538913734,0.0031931470253120675,-0.003430360939995347,0.002934096408562931,0.00015613172729048673,0.0031960321825039986,-0.0034393599364024347],"tcp_position_m":[-0.13444518770792427,0.47924500037754175,0.3639616363646042],"tcp_quaternion_wxyz":[2.9951552889627576e-05,0.7071033267210187,0.7071102348244129,-1.579669609367651e-05],"object_position_m":[-0.13444194841695847,0.4789461432094311,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.340922508412693e-12,-2.0002536207998677e-11,-8.708037887190875e-17],"object_linear_velocity_m_s":[3.5793525719372276e-11,2.399512677002286e-12,6.293043714421665e-15],"object_angular_velocity_rad_s":[3.4403596958236414e-11,-5.13177004232156e-10,-1.9662042282049146e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538783231785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698458734113168,-1.610640232966134,1.550288551231758,-1.5353587015932832,-1.5708144247956461,0.0009459869655444914,0.0],"actuator_force":[-0.0701389816244955,-20.223200408461253,-22.14850694709412,-2.2895701474308225,-0.00045975974956036225,-7.130455468284946e-05,-0.29448006908723623],"issued_joint_targets_rad":[-1.5698491958112843,-1.6009271029197267,1.5652445808512048,-1.5348809916819066,-1.5708156841955703,0.0009470948957995793],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8799999999999037,"joint_targets_rad":[-1.5698491958112843,-1.6009271029197267,1.5652445808512048,-1.5348809916819066,-1.5708156841955703,0.0009470948957995793],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8999999999999015,"qpos":[-1.5698550885334084,-1.597750891575192,1.5205854524592919,-1.4935528535914857,-1.570816234890798,0.0009313578665350757,0.0029341454846987555,0.0001565291793897841,0.0031931619962965387,-0.0034303671190364965,0.0029341040847940896,0.00015613361596237112,0.0031960574210280787,-0.003439363425685712,-0.13444194841639928,0.4789461432094686,0.2998922445797836,1.0,1.22229152377068e-12,-1.823273387181468e-11,-9.811387391018754e-17],"qvel":[0.00022407171058453433,-0.014764809425185852,0.2264832594063652,-0.20784732953440138,1.4438021228598743e-05,7.935593755787587e-05,0.00011006095695552346,3.2483842324011086e-05,-7.125677148321926e-07,-0.00024384570375893478,0.00010360122487708042,3.1211706025946457e-06,-0.0001013843545943037,-0.0002459210495472246,4.4918429436919626e-11,3.0113091547144112e-12,6.2888803780793206e-15,8.695028446924678e-11,-1.2969359720847314e-09,-3.589795201658678e-15],"joint_position_rad":[-1.5698550885334084,-1.597750891575192,1.5205854524592919,-1.4935528535914857,-1.570816234890798,0.0009313578665350757],"joint_velocity_rad_s":[0.00022407171058453433,-0.014764809425185852,0.2264832594063652,-0.20784732953440138,1.4438021228598743e-05,7.935593755787587e-05],"linkage_position_rad":[0.0029341454846987555,0.0001565291793897841,0.0031931619962965387,-0.0034303671190364965,0.0029341040847940896,0.00015613361596237112,0.0031960574210280787,-0.003439363425685712],"tcp_position_m":[-0.13444603933731034,0.47923289824846016,0.3622566567783073],"tcp_quaternion_wxyz":[3.464701735820064e-05,0.7071032870829037,0.7071102741264188,-2.05182104753724e-05],"object_position_m":[-0.13444194841639928,0.4789461432094686,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.22229152377068e-12,-1.823273387181468e-11,-9.811387391018754e-17],"object_linear_velocity_m_s":[4.4918429436919626e-11,3.0113091547144112e-12,6.2888803780793206e-15],"object_angular_velocity_rad_s":[8.695028446924665e-11,-1.2969359720847314e-09,-3.589795201443575e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538498495996,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698447690226245,-1.610814452211972,1.5548053495727765,-1.5397013196089366,-1.5708142766879871,0.000947092126555246,0.0],"actuator_force":[-0.06898966266589923,-20.22119750348611,-22.15350953557663,-2.28950005528543,-0.00046470071742987784,-6.846374570246283e-05,-0.2944807893838053],"issued_joint_targets_rad":[-1.5698481696285576,-1.601087674324753,1.5697471642093335,-1.5392237858889193,-1.570815536794027,0.0009481223834005014],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8999999999999015,"joint_targets_rad":[-1.5698481696285576,-1.601087674324753,1.5697471642093335,-1.5392237858889193,-1.570815536794027,0.0009481223834005014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9199999999998993,"qpos":[-1.5698533833243304,-1.5980719836495083,1.5252559367658407,-1.497890044579925,-1.5708161757964052,0.000932959801671004,0.0029341516040845297,0.00015652840187439822,0.0031931755733261512,-0.0034303720419060556,0.002934110418824231,0.0001561355086449111,0.0031960812930489123,-0.0034393656524262474,-0.13444194841582532,0.47894614320950707,0.2998922445797836,1.0,1.1603675425478297e-12,-1.7308755949245738e-11,-1.117308216873316e-16],"qvel":[0.00021778359550637922,-0.013947347369738418,0.22564016345865157,-0.20787601745013756,1.4929044709289399e-05,7.645432191176486e-05,0.00011004254797865444,3.240786526913093e-05,5.271379898579652e-08,-0.0002436790935284483,0.00010363929782590156,3.3381469537463722e-06,-9.955843483745865e-05,-0.0002456420960853606,2.1227314541127993e-11,1.4230619874908248e-12,6.294431493202447e-15,-4.5556030795468593e-11,6.79551857935267e-10,-3.889248807873494e-16],"joint_position_rad":[-1.5698533833243304,-1.5980719836495083,1.5252559367658407,-1.497890044579925,-1.5708161757964052,0.000932959801671004],"joint_velocity_rad_s":[0.00021778359550637922,-0.013947347369738418,0.22564016345865157,-0.20787601745013756,1.4929044709289399e-05,7.645432191176486e-05],"linkage_position_rad":[0.0029341516040845297,0.00015652840187439822,0.0031931755733261512,-0.0034303720419060556,0.002934110418824231,0.0001561355086449111,0.0031960812930489123,-0.0034393656524262474],"tcp_position_m":[-0.13444686052023452,0.4792208702775435,0.360551568489735],"tcp_quaternion_wxyz":[3.894401320559684e-05,0.7071032503466114,0.7071103104998236,-2.4848808880360685e-05],"object_position_m":[-0.13444194841582532,0.47894614320950707,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1603675425478297e-12,-1.7308755949245738e-11,-1.117308216873316e-16],"object_linear_velocity_m_s":[2.1227314541127993e-11,1.4230619874908248e-12,6.294431493202447e-15],"object_angular_velocity_rad_s":[-4.555603079546843e-11,6.79551857935267e-10,-3.889248807639487e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538226788413,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.56984374232026,-1.610971250397086,1.5593048963902711,-1.5440441154548774,-1.5708141290781894,0.0009481195958496472,0.0],"actuator_force":[-0.06783143006168757,-20.21959454725993,-22.158146134599974,-2.2894336924624668,-0.00046954536310295225,-6.553510185491884e-05,-0.29448151037446085],"issued_joint_targets_rad":[-1.5698472239392323,-1.601230626108843,1.5742323984033566,-1.5435668463204495,-1.5708153899648931,0.0009490694336350416],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9199999999998993,"joint_targets_rad":[-1.5698472239392323,-1.601230626108843,1.5742323984033566,-1.5435668463204495,-1.5708153899648931,0.0009490694336350416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9399999999998971,"qpos":[-1.5698517488712531,-1.598376086490398,1.5299089198218672,-1.5022277980484768,-1.5708161080364456,0.0009344993365115057,0.0029341565986490763,0.00015652749079729517,0.003193188406371998,-0.0034303753789494107,0.0029341156544910765,0.0001561373977100479,0.0031961048643889046,-0.003439366278331025,-0.13444194841521254,0.4789461432095481,0.2998922445797836,1.0,1.230254899997719e-12,-1.8351188274342306e-11,-1.313652994741355e-16],"qvel":[0.00021146898425953344,-0.013127059400189899,0.2247975808833975,-0.2079033394080978,1.536421375553474e-05,7.346166576106399e-05,0.0001100170854255469,3.233547936040836e-05,7.74684239555196e-07,-0.00024348612781886387,0.00010366896700720948,3.5393341256934554e-06,-9.784878047482007e-05,-0.00024535658362334953,2.2981872308413932e-11,1.540690509538827e-12,6.28888037807932e-15,-3.7590167404593155e-11,5.607191251665807e-10,-7.100786437775535e-16],"joint_position_rad":[-1.5698517488712531,-1.598376086490398,1.5299089198218672,-1.5022277980484768,-1.5708161080364456,0.0009344993365115057],"joint_velocity_rad_s":[0.00021146898425953344,-0.013127059400189899,0.2247975808833975,-0.2079033394080978,1.536421375553474e-05,7.346166576106399e-05],"linkage_position_rad":[0.0029341565986490763,0.00015652749079729517,0.003193188406371998,-0.0034303753789494107,0.0029341156544910765,0.0001561373977100479,0.0031961048643889046,-0.003439366278331025],"tcp_position_m":[-0.13444765005172493,0.47920893592365166,0.3588464037807875],"tcp_quaternion_wxyz":[4.285771168380196e-05,0.7071032165617577,0.7071103439079527,-2.8802927530323597e-05],"object_position_m":[-0.13444194841521254,0.4789461432095481,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.230254899997719e-12,-1.8351188274342306e-11,-1.313652994741355e-16],"object_linear_velocity_m_s":[2.2981872308413932e-11,1.540690509538827e-12,6.28888037807932e-15],"object_angular_velocity_rad_s":[-3.759016740459298e-11,5.607191251665807e-10,-7.100786437711296e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537952161449,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569842796062414,-1.6111106137137385,1.563787268814931,-1.5483871807474403,-1.5708139820118647,0.0009490666293390429,0.0],"actuator_force":[-0.06668197602539294,-20.21823068660524,-22.162334367231324,-2.28935740867189,-0.00047340908520254743,-6.25201623377647e-05,-0.29448204291917146],"issued_joint_targets_rad":[-1.5698463620944691,-1.601355913491399,1.57870024772067,-1.5479101819037964,-1.5708152437205447,0.0009499326985533683],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9399999999998971,"joint_targets_rad":[-1.5698463620944691,-1.601355913491399,1.57870024772067,-1.5479101819037964,-1.5708152437205447,0.0009499326985533683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.959999999999895,"qpos":[-1.5698501861128953,-1.5986631369338422,1.5345444006660984,-1.5065660866099306,-1.5708160324767515,0.0009359744365799734,0.002934160612167926,0.00015652654215618321,0.0031932003071258085,-0.0034303776417955257,0.002934119912675351,0.00015613927089468696,0.0031961275882199415,-0.0034393658075538734,-0.1344419484146156,0.47894614320958806,0.2998922445797836,1.0,1.2788006598730837e-12,-1.907522509414177e-11,-1.5345375074062835e-16],"qvel":[0.00020508761971055477,-0.012303731837725375,0.22395549918099067,-0.20792937758579197,1.5756314934719545e-05,7.037127680950486e-05,0.00010999766871407836,3.22658073297061e-05,1.4863995575153235e-06,-0.0002433102206294295,0.00010370426916906045,3.739534269812747e-06,-9.616347088735027e-05,-0.0002450912347920854,2.5219810391898882e-11,1.6907307814328855e-12,6.288880378079319e-15,-2.378996789949391e-11,3.548673003282262e-10,-1.2964185582219392e-15],"joint_position_rad":[-1.5698501861128953,-1.5986631369338422,1.5345444006660984,-1.5065660866099306,-1.5708160324767515,0.0009359744365799734],"joint_velocity_rad_s":[0.00020508761971055477,-0.012303731837725375,0.22395549918099067,-0.20792937758579197,1.5756314934719545e-05,7.037127680950486e-05],"linkage_position_rad":[0.002934160612167926,0.00015652654215618321,0.0031932003071258085,-0.0034303776417955257,0.002934119912675351,0.00015613927089468696,0.0031961275882199415,-0.0034393658075538734],"tcp_position_m":[-0.13444840726876128,0.47919710096318213,0.35714116903164206],"tcp_quaternion_wxyz":[4.642012061975235e-05,0.7071031853451877,0.7071103747431016,-3.241190770609996e-05],"object_position_m":[-0.1344419484146156,0.47894614320958806,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2788006598730837e-12,-1.907522509414177e-11,-1.5345375074062835e-16],"object_linear_velocity_m_s":[2.5219810391898882e-11,1.6907307814328855e-12,6.288880378079319e-15],"object_angular_velocity_rad_s":[-2.3789967899493753e-11,3.548673003282262e-10,-1.2964185582108488e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537684012127,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698419335895342,-1.611232498717903,1.5682524311709225,-1.5527305241023135,-1.5708138355042738,0.000949929878935083,0.0],"actuator_force":[-0.06553000116218755,-20.217230833031408,-22.166138662747926,-2.2892809876121873,-0.0004771452546492583,-5.9406503395698085e-05,-0.2944825359315795],"issued_joint_targets_rad":[-1.5698455867761185,-1.6014635150301573,1.583150764057422,-1.5522538655970306,-1.5708150980885929,0.0009507094971243522],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.959999999999895,"joint_targets_rad":[-1.5698455867761185,-1.6014635150301573,1.583150764057422,-1.5522538655970306,-1.5708150980885929,0.0009507094971243522],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9799999999998927,"qpos":[-1.5698486965340095,-1.598933074215245,1.5391623947915327,-1.510904891398815,-1.570815949910871,0.0009373830024677988,0.0029341638107085056,0.00015652558964214725,0.0031932113379256697,-0.0034303791438305715,0.002934123355871794,0.0001561411419841384,0.0031961494532788946,-0.003439364566556904,-0.13444194841403698,0.47894614320962686,0.2998922445797836,1.0,1.2934022915007707e-12,-1.929264929232492e-11,-1.7767572216766524e-16],"qvel":[0.00019862135065430793,-0.011477475162438376,0.22311414721649883,-0.20795456892475378,1.6109845460145786e-05,6.718021541431291e-05,0.00010998637976954715,3.2196403657362115e-05,2.1972680215214335e-06,-0.0002431460059166993,0.0001037475982118447,3.939429332516774e-06,-9.448143255861083e-05,-0.00024483830346139077,2.8436584855666396e-11,1.906434598723319e-12,6.290268156860102e-15,-1.808169778660646e-12,2.7009001042077425e-11,-2.3669325617144727e-15],"joint_position_rad":[-1.5698486965340095,-1.598933074215245,1.5391623947915327,-1.510904891398815,-1.570815949910871,0.0009373830024677988],"joint_velocity_rad_s":[0.00019862135065430793,-0.011477475162438376,0.22311414721649883,-0.20795456892475378,1.6109845460145786e-05,6.718021541431291e-05],"linkage_position_rad":[0.0029341638107085056,0.00015652558964214725,0.0031932113379256697,-0.0034303791438305715,0.002934123355871794,0.0001561411419841384,0.0031961494532788946,-0.003439364566556904],"tcp_position_m":[-0.13444913126294514,0.47918536886296975,0.3554358641643185],"tcp_quaternion_wxyz":[4.966518070123533e-05,0.7071031564825058,0.7071104032261925,-3.570907036881198e-05],"object_position_m":[-0.13444194841403698,0.47894614320962686,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2934022915007707e-12,-1.929264929232492e-11,-1.7767572216766524e-16],"object_linear_velocity_m_s":[2.8436584855666396e-11,1.906434598723319e-12,6.290268156860102e-15],"object_angular_velocity_rad_s":[-1.808169778660545e-12,2.700900104207743e-11,-2.366932561616236e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537424184405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698411575783133,-1.6113368852318497,1.5727004353973641,-1.557074218152408,-1.570813689585674,0.000950706663462559,0.0],"actuator_force":[-0.06437062886971034,-20.216631968234196,-22.16957767493659,-2.2892064843211983,-0.00048082194757625984,-5.619104405119035e-05,-0.2944830282189219],"issued_joint_targets_rad":[-1.5698449011690416,-1.6015534117635295,1.5875840171396032,-1.5565979856861794,-1.5708149530977606,0.0009513966462182333],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9799999999998927,"joint_targets_rad":[-1.5698449011690416,-1.6015534117635295,1.5875840171396032,-1.5565979856861794,-1.5708149530977606,0.0009513966462182333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9999999999998905,"qpos":[-1.569847281893596,-1.5991858411127304,1.5437629228317453,-1.5152442035349907,-1.5708158610662148,0.0009387228333172261,0.002934166342569699,0.00015652463567842652,0.0031932216341190307,-0.0034303800374377723,0.0029341261326462404,0.00015614301318297275,0.0031961705915408718,-0.003439362712820201,-0.1344419484134499,0.47894614320966616,0.2998922445797836,1.0,1.3330204386276456e-12,-1.988343279178306e-11,-2.070046529286394e-16],"qvel":[0.00019206250375005993,-0.010648479930361587,0.22227377454080402,-0.20797940283056465,1.642807666068893e-05,6.388352239077523e-05,0.00010998190055437261,3.2126855751537066e-05,2.907122269705809e-06,-0.00024298979186424395,0.00010379762396031543,4.138539047104489e-06,-9.280291889326666e-05,-0.0002445938814276075,3.4044515312851665e-11,2.2824032466969736e-12,6.293043714421665e-15,2.9693926829006977e-11,-4.429143953644616e-10,-4.321408606899916e-15],"joint_position_rad":[-1.569847281893596,-1.5991858411127304,1.5437629228317453,-1.5152442035349907,-1.5708158610662148,0.0009387228333172261],"joint_velocity_rad_s":[0.00019206250375005993,-0.010648479930361587,0.22227377454080402,-0.20797940283056465,1.642807666068893e-05,6.388352239077523e-05],"linkage_position_rad":[0.002934166342569699,0.00015652463567842652,0.0031932216341190307,-0.0034303800374377723,0.0029341261326462404,0.00015614301318297275,0.0031961705915408718,-0.003439362712820201],"tcp_position_m":[-0.13444982101171654,0.479173743429475,0.35373048888720976],"tcp_quaternion_wxyz":[5.262384133527535e-05,0.7071031298195544,0.707110429516148,-3.8724796965089047e-05],"object_position_m":[-0.1344419484134499,0.47894614320966616,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3330204386276456e-12,-1.988343279178306e-11,-2.070046529286394e-16],"object_linear_velocity_m_s":[3.4044515312851665e-11,2.2824032466969736e-12,6.293043714421665e-15],"object_angular_velocity_rad_s":[2.969392682900697e-11,-4.429143953644616e-10,-4.321408606893402e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537171648432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698404712116887,-1.6114237554718456,1.5771313512637537,-1.5614183508906638,-1.5708135442872204,0.0009513937996617602,0.0],"actuator_force":[-0.06320363768509196,-20.216436746085492,-22.172652952304816,-2.2891333947800376,-0.00048441816875310906,-5.2869066810457e-05,-0.2944835213833704],"issued_joint_targets_rad":[-1.5698443087966585,-1.6016255822216385,1.592000073796738,-1.5609426301219251,-1.5708148087722196,0.0009519906247353984],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9999999999998905,"joint_targets_rad":[-1.5698443087966585,-1.6016255822216385,1.592000073796738,-1.5609426301219251,-1.5708148087722196,0.0009519906247353984],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0199999999998886,"qpos":[-1.5698459440954533,-1.5994213838917575,1.5483460098768038,-1.51958402341022,-1.5708157666033293,0.0009399916032984273,0.002934168330120305,0.00015652368060094829,0.003193231314340007,-0.003430380438942724,0.0029341283652236944,0.0001561448837516124,0.0031961911174629774,-0.003439360363499133,-0.13444194841288118,0.47894614320970436,0.2998922445797836,1.0,1.2708660426170576e-12,-1.8956262269873254e-11,-2.358888836296705e-16],"qvel":[0.00018540383753806137,-0.00981691186674951,0.2214345911530477,-0.20800432139032812,1.6714205466355203e-05,6.047516054411543e-05,0.00010998301256044938,3.2057143964772166e-05,3.614996035395456e-06,-0.00024284040229721892,0.00010385313155442092,4.336883127773237e-06,-9.112872543578574e-05,-0.00024435672298701183,4.296425336807272e-11,2.8804325014307804e-12,6.28888037807932e-15,7.73235831690454e-11,-1.1533236889742778e-09,-7.889799271043011e-15],"joint_position_rad":[-1.5698459440954533,-1.5994213838917575,1.5483460098768038,-1.51958402341022,-1.5708157666033293,0.0009399916032984273],"joint_velocity_rad_s":[0.00018540383753806137,-0.00981691186674951,0.2214345911530477,-0.20800432139032812,1.6714205466355203e-05,6.047516054411543e-05],"linkage_position_rad":[0.002934168330120305,0.00015652368060094829,0.003193231314340007,-0.003430380438942724,0.0029341283652236944,0.0001561448837516124,0.0031961911174629774,-0.003439360363499133],"tcp_position_m":[-0.1344504754405612,0.47916222876750764,0.35202504293125403],"tcp_quaternion_wxyz":[5.532409033491909e-05,0.707103105208524,0.7071104537641718,-4.148655964957621e-05],"object_position_m":[-0.13444194841288118,0.47894614320970436,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2708660426170576e-12,-1.8956262269873254e-11,-2.358888836296705e-16],"object_linear_velocity_m_s":[4.296425336807272e-11,2.8804325014307804e-12,6.28888037807932e-15],"object_angular_velocity_rad_s":[7.732358316904515e-11,-1.1533236889742778e-09,-7.889799270950591e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536925377221,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.56983987801178,-1.6114930890685024,1.5815452456437993,-1.5657630100037534,-1.570813399635294,0.0009519877663158023,0.0],"actuator_force":[-0.06202936766885614,-20.21664560679028,-22.175364927228202,-2.2890611577338404,-0.00048793652888434735,-4.9434545724091894e-05,-0.2944840154877743],"issued_joint_targets_rad":[-1.5698438134578216,-1.6016800023438682,1.5963989973008066,-1.5652878859403339,-1.5708146651315567,0.0009524876365462852],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0199999999998886,"joint_targets_rad":[-1.5698438134578216,-1.6016800023438682,1.5963989973008066,-1.5652878859403339,-1.5708146651315567,0.0009524876365462852],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0399999999998863,"qpos":[-1.5698446851942462,-1.5996396517495344,1.5529116847027609,-1.5239243597260734,-1.5708156671207458,0.0009411868469217591,0.0029341698736807123,0.00015652272470994427,0.0031932404766178957,-0.0034303804439968374,0.002934130153762202,0.00015614675300020033,0.003196211125417153,-0.003439357614689442,-0.13444194841231755,0.47894614320974216,0.2998922445797836,1.0,1.1648181569268654e-12,-1.737431357208e-11,-2.6581677491803123e-16],"qvel":[0.00017863742929052613,-0.008982908810136421,0.22059677042012088,-0.20802972022639643,1.697115089353723e-05,5.694840884000213e-05,0.00010998870025736229,3.1987247519276895e-05,4.3199963770224515e-06,-0.0002426968308739615,0.0001039131172846241,4.534496965601236e-06,-8.945954939885124e-05,-0.00024412582185321288,2.120056381437841e-11,1.4213373519366556e-12,6.293043714421665e-15,-4.7224009308206734e-11,7.043964311650085e-10,-8.547957634927056e-16],"joint_position_rad":[-1.5698446851942462,-1.5996396517495344,1.5529116847027609,-1.5239243597260734,-1.5708156671207458,0.0009411868469217591],"joint_velocity_rad_s":[0.00017863742929052613,-0.008982908810136421,0.22059677042012088,-0.20802972022639643,1.697115089353723e-05,5.694840884000213e-05],"linkage_position_rad":[0.0029341698736807123,0.00015652272470994427,0.0031932404766178957,-0.0034303804439968374,0.002934130153762202,0.00015614675300020033,0.003196211125417153,-0.003439357614689442],"tcp_position_m":[-0.13445109341889705,0.4791508293141686,0.3503195260649288],"tcp_quaternion_wxyz":[5.779122001320131e-05,0.7071030825050576,0.7071104761169441,-4.4019183522874496e-05],"object_position_m":[-0.13444194841231755,0.47894614320974216,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1648181569268654e-12,-1.737431357208e-11,-2.6581677491803123e-16],"object_linear_velocity_m_s":[2.120056381437841e-11,1.4213373519366556e-12,6.293043714421665e-15],"object_angular_velocity_rad_s":[-4.722400930820633e-11,7.043964311650085e-10,-8.54795763474692e-16],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536684519634,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698393817764702,-1.6115448629961489,1.585942181855426,-1.5701082822898726,-1.5708132556514829,0.0009524847671892618,0.0],"actuator_force":[-0.060848136164167954,-20.21725896917451,-22.177713862718065,-2.2889892592600063,-0.0004913804579018688,-4.588075024875016e-05,-0.29448451045985563],"issued_joint_targets_rad":[-1.5698434192619048,-1.6017166453018346,1.6007808471752167,-1.5696338392442926,-1.570814522191198,0.0009528835754413193],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0399999999998863,"joint_targets_rad":[-1.5698434192619048,-1.6017166453018346,1.6007808471752167,-1.5696338392442926,-1.570814522191198,0.0009528835754413193],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.059999999999884,"qpos":[-1.5698435074116786,-1.5998405962666873,1.5574599790630153,-1.5282652286087601,-1.5708155631603729,0.000942305942864766,0.0029341710554078235,0.00015652176825514826,0.0031932492012156275,-0.0034303801309319756,0.002934131580273798,0.00015614862032203904,0.0031962306925233442,-0.0034393545450755506,-0.13444194841168355,0.4789461432097847,0.2998922445797836,1.0,1.2514862889335602e-12,-1.8666971289095254e-11,-3.1439508389224803e-16],"qvel":[0.00017175449250923235,-0.008146582232938899,0.21976045184690643,-0.20805595279289985,1.7201565777807447e-05,5.329576718204096e-05,0.00010999812791345503,3.1917145497575196e-05,5.0214012980116596e-06,-0.0002425582385399607,0.00010397675764029636,4.731417190836922e-06,-8.779591408371205e-05,-0.00024390033876271023,2.3160816171624687e-11,1.5527642767056708e-12,6.295819271983228e-15,-4.088156917539714e-11,6.097836055756194e-10,-1.560640190041641e-15],"joint_position_rad":[-1.5698435074116786,-1.5998405962666873,1.5574599790630153,-1.5282652286087601,-1.5708155631603729,0.000942305942864766],"joint_velocity_rad_s":[0.00017175449250923235,-0.008146582232938899,0.21976045184690643,-0.20805595279289985,1.7201565777807447e-05,5.329576718204096e-05],"linkage_position_rad":[0.0029341710554078235,0.00015652176825514826,0.0031932492012156275,-0.0034303801309319756,0.002934131580273798,0.00015614862032203904,0.0031962306925233442,-0.0034393545450755506],"tcp_position_m":[-0.1344516737509898,0.47913954987983204,0.3486139380909064],"tcp_quaternion_wxyz":[6.004808557324108e-05,0.7071030615683656,0.7071104967167454,-4.6345100790813166e-05],"object_position_m":[-0.13444194841168355,0.4789461432097847,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2514862889335602e-12,-1.8666971289095254e-11,-3.1439508389224803e-16],"object_linear_velocity_m_s":[2.3160816171624687e-11,1.5527642767056708e-12,6.295819271983228e-15],"object_angular_velocity_rad_s":[-4.08815691753967e-11,6.097836055756194e-10,-1.560640190040154e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536448380047,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698389866144422,-1.6115790514067152,1.590322219470714,-1.5744542536376163,-1.5708131123530253,0.0009528806959770093,0.0],"actuator_force":[-0.059660202531176765,-20.218277386880345,-22.17969992336475,-2.2889172351382285,-0.000494752904046436,-4.220016208245081e-05,-0.2944850062118498],"issued_joint_targets_rad":[-1.5698431306763263,-1.601735481285741,1.6051456790134362,-1.573980575231493,-1.5708143799628176,0.0009531739776834969],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.059999999999884,"joint_targets_rad":[-1.5698431306763263,-1.601735481285741,1.6051456790134362,-1.573980575231493,-1.5708143799628176,0.0009531739776834969],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.079999999999882,"qpos":[-1.5698424131557946,-1.6000241708900358,1.561990927030683,-1.5326066528103452,-1.5708154552124642,0.0009433460948596824,0.0029341719425698865,0.00015652081145086876,0.0031932575537910873,-0.003430379563913762,0.0029341327118960897,0.0001561504851935601,0.003196249881754697,-0.003439351219064977,-0.13444194841106238,0.4789461432098264,0.2998922445797836,1.0,1.3134721762315418e-12,-1.9591575202656528e-11,-3.692925851297323e-16],"qvel":[0.00016474523615311328,-0.007308018776216532,0.21892574347874225,-0.20808333454794906,1.740785876440118e-05,4.9508813302998076e-05,0.0001100106081364932,3.1846816344790845e-05,5.718639945891421e-06,-0.0002424239242261146,0.00010404337796557527,4.9276816707408684e-06,-8.613818724905222e-05,-0.0002436795764067004,2.5431907442067788e-11,1.7050228957360948e-12,6.291655935640883e-15,-2.8628499549510145e-11,4.270162070477757e-10,-2.8493457546854342e-15],"joint_position_rad":[-1.5698424131557946,-1.6000241708900358,1.561990927030683,-1.5326066528103452,-1.5708154552124642,0.0009433460948596824],"joint_velocity_rad_s":[0.00016474523615311328,-0.007308018776216532,0.21892574347874225,-0.20808333454794906,1.740785876440118e-05,4.9508813302998076e-05],"linkage_position_rad":[0.0029341719425698865,0.00015652081145086876,0.0031932575537910873,-0.003430379563913762,0.0029341327118960897,0.0001561504851935601,0.003196249881754697,-0.003439351219064977],"tcp_position_m":[-0.13445221516548087,0.4791283956952425,0.34690827884192554],"tcp_quaternion_wxyz":[6.211533982698735e-05,0.7071030422613884,0.7071105157014836,-4.8484581587008653e-05],"object_position_m":[-0.13444194841106238,0.4789461432098264,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3134721762315418e-12,-1.9591575202656528e-11,-3.692925851297323e-16],"object_linear_velocity_m_s":[2.5431907442067788e-11,1.7050228957360948e-12,6.291655935640883e-15],"object_angular_velocity_rad_s":[-2.8628499549509715e-11,4.270162070477757e-10,-2.8493457546924243e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536216390761,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698386969926683,-1.6115956254263828,1.5946854141353857,-1.5788010090516502,-1.5708129697532338,0.0009531710888557947,0.0],"actuator_force":[-0.0584657682084071,-20.219701562207774,-22.181323182091546,-2.288844665857596,-0.0004980562612217909,-3.838433224362392e-05,-0.29448550265380913],"issued_joint_targets_rad":[-1.5698429525828332,-1.601736477246111,1.609493544254891,-1.5783281782248566,-1.5708142384546937,0.0009533539658012297],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.079999999999882,"joint_targets_rad":[-1.5698429525828332,-1.601736477246111,1.609493544254891,-1.5783281782248566,-1.5708142384546937,0.0009533539658012297],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0999999999998797,"qpos":[-1.5698414050434022,-1.6001903304412572,1.5665045643828854,-1.5369486609892407,-1.5708153437201164,0.0009443043090659331,0.002934172590236382,0.00015651985447982653,0.0031932655880386606,-0.0034303787955039544,0.002934133603579986,0.00015615234716660816,0.003196268744534737,-0.003439347689361334,-0.1344419484104579,0.47894614320986695,0.2998922445797836,1.0,1.3413433224140762e-12,-2.000726989371841e-11,-4.299625418648097e-16],"qvel":[0.00015759869984249635,-0.006467281448559344,0.21809272386664005,-0.20811214674384693,1.75922150591866e-05,4.5578033157450496e-05,0.00011002557459773797,3.1776237137995596e-05,6.411266722339505e-06,-0.00024229329790309643,0.0001041124253639832,5.123329567893797e-06,-8.448660372823161e-05,-0.0002434629507191506,2.85063449252308e-11,1.9111451052557053e-12,6.301370387106356e-15,-8.380698979598617e-12,1.250086230380161e-10,-5.202188053343218e-15],"joint_position_rad":[-1.5698414050434022,-1.6001903304412572,1.5665045643828854,-1.5369486609892407,-1.5708153437201164,0.0009443043090659331],"joint_velocity_rad_s":[0.00015759869984249635,-0.006467281448559344,0.21809272386664005,-0.20811214674384693,1.75922150591866e-05,4.5578033157450496e-05],"linkage_position_rad":[0.002934172590236382,0.00015651985447982653,0.0031932655880386606,-0.0034303787955039544,0.002934133603579986,0.00015615234716660816,0.003196268744534737,-0.003439347689361334],"tcp_position_m":[-0.13445271630354969,0.47911737246582176,0.34520254817700363],"tcp_quaternion_wxyz":[6.401164536650043e-05,0.7071030244507976,0.7071105332048455,-5.04559426216254e-05],"object_position_m":[-0.1344419484104579,0.47894614320986695,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3413433224140762e-12,-2.000726989371841e-11,-4.299625418648097e-16],"object_linear_velocity_m_s":[2.85063449252308e-11,1.9111451052557053e-12,6.301370387106356e-15],"object_angular_velocity_rad_s":[-8.3806989795983e-12,1.2500862303801614e-10,-5.2021880533340676e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535988088538,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569838517792665,-1.6115945529071356,1.599031817345453,-1.5831486326810473,-1.5708128278618672,0.0009533510682761938,0.0],"actuator_force":[-0.05726497846262646,-20.221532352332815,-22.18258362152119,-2.288771171518647,-0.0005012923812728332,-3.442371061473937e-05,-0.29448599969062694],"issued_joint_targets_rad":[-1.5698428903442412,-1.6017195965805318,1.6138244899052785,-1.582676731702914,-1.570814097672022,0.0009534181819504417],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0999999999998797,"joint_targets_rad":[-1.5698428903442412,-1.6017195965805318,1.6138244899052785,-1.582676731702914,-1.570814097672022,0.0009534181819504417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1199999999998775,"qpos":[-1.5698404859262471,-1.6003390306439162,1.5710009280177466,-1.5412912870624054,-1.5708152290833468,0.0009451773672724411,0.002934173043481714,0.00015651889749527005,0.003193273347853591,-0.0034303778687611915,0.0029341343002912425,0.00015615420585906678,0.003196287322863621,-0.0034393439990593713,-0.13444194840987517,0.4789461432099059,0.2998922445797836,1.0,1.3193734178021262e-12,-1.9679645608205592e-11,-4.944235221393492e-16],"qvel":[0.00015030255371345662,-0.005624410451837081,0.21726144358686572,-0.2081426398563548,1.7756615299126283e-05,4.149261969294446e-05,0.00011004255972980874,3.170538339835856e-05,7.098941368201529e-06,-0.00024216585743474877,0.00010418344658824998,5.318401865502409e-06,-8.284128379006571e-05,-0.00024324996922122779,3.320139135046856e-11,2.2258990865387898e-12,6.297207050764011e-15,2.2862722249954597e-11,-3.4103266238956103e-10,-9.497868570677951e-15],"joint_position_rad":[-1.5698404859262471,-1.6003390306439162,1.5710009280177466,-1.5412912870624054,-1.5708152290833468,0.0009451773672724411],"joint_velocity_rad_s":[0.00015030255371345662,-0.005624410451837081,0.21726144358686572,-0.2081426398563548,1.7756615299126283e-05,4.149261969294446e-05],"linkage_position_rad":[0.002934173043481714,0.00015651889749527005,0.003193273347853591,-0.0034303778687611915,0.0029341343002912425,0.00015615420585906678,0.003196287322863621,-0.0034393439990593713],"tcp_position_m":[-0.13445317570539275,0.4791064864347634,0.34349674597803254],"tcp_quaternion_wxyz":[6.575386629201945e-05,0.7071030080068346,0.7071105493565784,-5.227573571112276e-05],"object_position_m":[-0.13444194840987517,0.4789461432099059,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3193734178021262e-12,-1.9679645608205592e-11,-4.944235221393492e-16],"object_linear_velocity_m_s":[3.320139135046856e-11,2.2258990865387898e-12,6.297207050764011e-15],"object_angular_velocity_rad_s":[2.2862722249954636e-11,-3.4103266238956103e-10,-9.497868570716266e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535763095332,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698384543772057,-1.6115757981230072,1.603361476168192,-1.5874972078477787,-1.5708126866854575,0.0009534152763238899,0.0],"actuator_force":[-0.05605792340247717,-20.223770777447044,-22.18348113385582,-2.288696407051134,-0.000504462585240617,-3.0307443570076753e-05,-0.2944864972202381],"issued_joint_targets_rad":[-1.56984294988432,-1.6016847987519098,1.6181385581881504,-1.587026318330476,-1.5708139576171765,0.0009533607081479322],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1199999999998775,"joint_targets_rad":[-1.56984294988432,-1.6016847987519098,1.6181385581881504,-1.587026318330476,-1.5708139576171765,0.0009533607081479322],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1399999999998753,"qpos":[-1.5698396589217696,-1.60047022766069,1.5754800553945543,-1.5456345696223783,-1.5708151116627627,0.0009459617950835438,0.002934173339190509,0.00015651794062306078,0.003193280869101511,-0.003430376818966303,0.0029341348388135513,0.00015615606094630612,0.0031963056510491924,-0.003439340183366997,-0.13444194840932266,0.47894614320994294,0.2998922445797836,1.0,1.2244054056744008e-12,-1.82632043623368e-11,-5.579070962541544e-16],"qvel":[0.00014284285301286833,-0.004779423605354593,0.21643192629711427,-0.20817503668934928,1.7902852603047627e-05,3.724023064689844e-05,0.00011006117609074197,3.163422850058032e-05,7.781412034829813e-06,-0.00024204116987435953,0.00010425606963982921,5.512941816508276e-06,-8.120224621479805e-05,-0.0002430402132960584,4.089737285487971e-11,2.741821641891662e-12,6.298594829544793e-15,6.930251601956143e-11,-1.0337500992513466e-09,-1.7340685656751725e-14],"joint_position_rad":[-1.5698396589217696,-1.60047022766069,1.5754800553945543,-1.5456345696223783,-1.5708151116627627,0.0009459617950835438],"joint_velocity_rad_s":[0.00014284285301286833,-0.004779423605354593,0.21643192629711427,-0.20817503668934928,1.7902852603047627e-05,3.724023064689844e-05],"linkage_position_rad":[0.002934173339190509,0.00015651794062306078,0.003193280869101511,-0.003430376818966303,0.0029341348388135513,0.00015615606094630612,0.0031963056510491924,-0.003439340183366997],"tcp_position_m":[-0.13445359179462246,0.47909574445690606,0.34179087214673654],"tcp_quaternion_wxyz":[6.735724144097633e-05,0.7071029928029835,0.7071105642829132,-5.395891813074115e-05],"object_position_m":[-0.13444194840932266,0.47894614320994294,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2244054056744008e-12,-1.82632043623368e-11,-5.579070962541544e-16],"object_linear_velocity_m_s":[4.089737285487971e-11,2.741821641891662e-12,6.298594829544793e-15],"object_angular_velocity_rad_s":[6.930251601956091e-11,-1.0337500992513466e-09,-1.7340685656838117e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535541102656,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569838512670182,-1.6115393213976812,1.6076744328943051,-1.5918468170756759,-1.5708125462275828,0.000953357794952303,0.0],"actuator_force":[-0.054844638029862836,-20.22641803184024,-22.18401551934403,-2.2886200577138425,-0.0005075676702972487,-2.602313031019321e-05,-0.29448699512885584],"issued_joint_targets_rad":[-1.5698431377843407,-1.6016320388204948,1.6224357861106222,-1.5913770199902013,-1.5708138182899254,0.0009531749698685729],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1399999999998753,"joint_targets_rad":[-1.5698431377843407,-1.6016320388204948,1.6224357861106222,-1.5913770199902013,-1.5708138182899254,0.0009531749698685729],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.159999999999873,"qpos":[-1.5698389274495201,-1.600583877631758,1.5799419839868696,-1.5499785514129707,-1.570814991782863,0.0009466538239909981,0.0029341735075363007,0.00015651698396327115,0.0031932881810620216,-0.003430375675027388,0.0029341352492249424,0.00015615791215325083,0.0031963237571212785,-0.003439336271011876,-0.1344419484087851,0.47894614320997897,0.2998922445797836,1.0,1.1054372242917775e-12,-1.6488790938743737e-11,-6.236844435847431e-16],"qvel":[0.00013520373492189369,-0.003932316324140855,0.21560416929412607,-0.20820953518942903,1.8032547938884616e-05,3.280669319715501e-05,0.00011008110110473169,3.156274316002304e-05,8.458502440565921e-06,-0.00024191885510237022,0.00010432998881401909,5.706995724061379e-06,-7.956941754189018e-05,-0.00024283332184230338,2.0192706588960986e-11,1.3537549877677507e-12,6.294431493202448e-15,-4.545715224844746e-11,6.780390239007155e-10,-1.878721195259461e-15],"joint_position_rad":[-1.5698389274495201,-1.600583877631758,1.5799419839868696,-1.5499785514129707,-1.570814991782863,0.0009466538239909981],"joint_velocity_rad_s":[0.00013520373492189369,-0.003932316324140855,0.21560416929412607,-0.20820953518942903,1.8032547938884616e-05,3.280669319715501e-05],"linkage_position_rad":[0.0029341735075363007,0.00015651698396327115,0.0031932881810620216,-0.003430375675027388,0.0029341352492249424,0.00015615791215325083,0.0031963237571212785,-0.003439336271011876],"tcp_position_m":[-0.13445396286006292,0.47908515408593116,0.34008492660197764],"tcp_quaternion_wxyz":[6.883554090240182e-05,0.7071029787154733,0.7071105781071388,-5.551900653979018e-05],"object_position_m":[-0.1344419484087851,0.47894614320997897,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1054372242917775e-12,-1.6488790938743737e-11,-6.236844435847431e-16],"object_linear_velocity_m_s":[2.0192706588960986e-11,1.3537549877677507e-12,6.294431493202448e-15],"object_angular_velocity_rad_s":[-4.545715224844655e-11,6.780390239007156e-10,-1.878721195267268e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535321858822,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.56983869925313,-1.6114850786458854,1.6119707246041406,-1.596197542120452,-1.5708124064890954,0.0009531720495791222,0.0],"actuator_force":[-0.053625101188572444,-20.229475498598276,-22.184186483108533,-2.288541834797684,-0.0005106079100869465,-2.1556525653443348e-05,-0.29448749328765594],"issued_joint_targets_rad":[-1.5698434614009866,-1.601561266866153,1.6267162049204578,-1.5957289178158498,-1.5708136796876022,0.0009528536183168147],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.159999999999873,"joint_targets_rad":[-1.5698434614009866,-1.601561266866153,1.6267162049204578,-1.5957289178158498,-1.5708136796876022,0.0009528536183168147],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.179999999999871,"qpos":[-1.5698382952746022,-1.6006799362040294,1.5843867507372391,-1.554323278858081,-1.570814869734974,0.0009472493458957196,0.0029341735731922857,0.00015651602759176683,0.003193295307603738,-0.0034303744606454046,0.0029341355561060254,0.00015615975924645407,0.003196341663976654,-0.003439332285387227,-0.134441948408188,0.478946143210019,0.2998922445797836,1.0,1.1759594970527511e-12,-1.754050894054932e-11,-7.304529838002263e-16],"qvel":[0.00012736704049360757,-0.0030830610845450903,0.21477814351484334,-0.20824631100288235,1.8147163839304073e-05,2.817563903473265e-05,0.00011010206423149185,3.149089473526387e-05,9.130102092126234e-06,-0.000241798572255376,0.00010440495223640054,5.900613772934341e-06,-7.794263649433144e-05,-0.00024262897830984378,2.1801656255106237e-11,1.46163718771003e-12,6.2944314932024484e-15,-3.881826628336968e-11,5.790159731250968e-10,-3.4300747081036116e-15],"joint_position_rad":[-1.5698382952746022,-1.6006799362040294,1.5843867507372391,-1.554323278858081,-1.570814869734974,0.0009472493458957196],"joint_velocity_rad_s":[0.00012736704049360757,-0.0030830610845450903,0.21477814351484334,-0.20824631100288235,1.8147163839304073e-05,2.817563903473265e-05],"linkage_position_rad":[0.0029341735731922857,0.00015651602759176683,0.003193295307603738,-0.0034303744606454046,0.0029341355561060254,0.00015615975924645407,0.003196341663976654,-0.003439332285387227],"tcp_position_m":[-0.13445428703428725,0.4790747236781567,0.33837890927738695],"tcp_quaternion_wxyz":[7.020120741142598e-05,0.7071029656225859,0.7071105909503522,-5.696821607173601e-05],"object_position_m":[-0.134441948408188,0.478946143210019,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1759594970527511e-12,-1.754050894054932e-11,-7.304529838002263e-16],"object_linear_velocity_m_s":[2.1801656255106237e-11,1.46163718771003e-12,6.2944314932024484e-15],"object_angular_velocity_rad_s":[-3.881826628336871e-11,5.790159731250969e-10,-3.43007470808924e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535105158666,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698390214831197,-1.6114130208052713,1.6162503826252277,-1.600549464001555,-1.5708122674683003,0.0009528506913572115,0.0],"actuator_force":[-0.05239923323279072,-20.232944768665675,-22.183993629959787,-2.288461471448727,-0.0005135830469953362,-1.689117272729579e-05,-0.294487991547255],"issued_joint_targets_rad":[-1.5698439290119133,-1.6014724272692766,1.6309798394238764,-1.6000820922282202,-1.570813541805226,0.0009523883850927576],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.179999999999871,"joint_targets_rad":[-1.5698439290119133,-1.6014724272692766,1.6309798394238764,-1.6000820922282202,-1.570813541805226,0.0009523883850927576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1999999999998687,"qpos":[-1.56983776655995,-1.6007583580389684,1.588814391500398,-1.5586688016387216,-1.5708147457798431,0.0009477438581860224,0.002934173556322844,0.00015651507156188847,0.003193302268140523,-0.003430373195266878,0.00293413577952865,0.00015616160202661748,0.00319635939031136,-0.003439328245497759,-0.1344419484075678,0.4789461432100606,0.2998922445797836,1.0,1.2940539669971378e-12,-1.9301719454798287e-11,-8.667070128708263e-16],"qvel":[0.00011931183866180153,-0.0022316062788028455,0.2139537928921443,-0.2082855198055049,1.824801660079172e-05,2.3328047702962854e-05,0.00011012383623190962,3.1418646333013785e-05,9.796159590944366e-06,-0.00024168000550784839,0.00010448075161294875,6.093851129788204e-06,-7.632165527133049e-05,-0.00024242689854479015,2.4644985434339428e-11,1.652284359802112e-12,6.29581927198323e-15,-2.987537449816959e-11,4.456248614625504e-10,-6.262442811964319e-15],"joint_position_rad":[-1.56983776655995,-1.6007583580389684,1.588814391500398,-1.5586688016387216,-1.5708147457798431,0.0009477438581860224],"joint_velocity_rad_s":[0.00011931183866180153,-0.0022316062788028455,0.2139537928921443,-0.2082855198055049,1.824801660079172e-05,2.3328047702962854e-05],"linkage_position_rad":[0.002934173556322844,0.00015651507156188847,0.003193302268140523,-0.003430373195266878,0.00293413577952865,0.00015616160202661748,0.00319635939031136,-0.003439328245497759],"tcp_position_m":[-0.1344545622680297,0.4790644625172036,0.3366728201193332],"tcp_quaternion_wxyz":[7.14654840657472e-05,0.7071029534037434,0.7071106029324175,-5.831758600996241e-05],"object_position_m":[-0.1344419484075678,0.4789461432100606,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2940539669971378e-12,-1.9301719454798287e-11,-8.667070128708263e-16],"object_linear_velocity_m_s":[2.4644985434339428e-11,1.652284359802112e-12,6.29581927198323e-15],"object_angular_velocity_rad_s":[-2.987537449816858e-11,4.4562486146255044e-10,-6.262442811931274e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534890835257,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569839487638298,-1.61132309312741,1.6205134318504837,-1.6049026630368335,-1.570812129161087,0.000952385451840137,0.0],"actuator_force":[-0.051166892160381394,-20.236827665362398,-22.18343645668665,-2.2883787185054416,-0.0005164922820313222,-1.2007943238967478e-05,-0.29448848973179903],"issued_joint_targets_rad":[-1.569844549997566,-1.601365457807263,1.635226707122231,-1.604436622975069,-1.5708134046355695,0.0009517699006647706],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1999999999998687,"joint_targets_rad":[-1.569844549997566,-1.601365457807263,1.635226707122231,-1.604436622975069,-1.5708134046355695,0.0009517699006647706],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2199999999998665,"qpos":[-1.5698373459298063,-1.6008190962840105,1.5932249404592502,-1.5630151723138794,-1.570814620149891,0.0009481323968481092,0.0029341734733946425,0.00015651411590548455,0.003193309078403996,-0.0034303718948640854,0.0029341359358636024,0.0001561634403200481,0.0031963769513644828,-0.003439324166714865,-0.13444194840695226,0.47894614321010187,0.2998922445797836,1.0,1.3607899161970273e-12,-2.0297125417188573e-11,-1.0183085074463806e-15],"qvel":[0.00011101382026156774,-0.0013778743162891724,0.21313103293270205,-0.20832729943484948,1.833628697535661e-05,1.8241667575520556e-05,0.00011014621991372567,3.1345955634047744e-05,1.0456678160161248e-05,-0.00024156285292232813,0.00010455721358902792,6.286769328300143e-06,-7.47061351604955e-05,-0.00024222682070168801,2.8065587325591522e-11,1.8816139705377245e-12,6.2999826083255755e-15,-1.2853492110996777e-11,1.9171608910478765e-10,-1.1433646463843199e-14],"joint_position_rad":[-1.5698373459298063,-1.6008190962840105,1.5932249404592502,-1.5630151723138794,-1.570814620149891,0.0009481323968481092],"joint_velocity_rad_s":[0.00011101382026156774,-0.0013778743162891724,0.21313103293270205,-0.20832729943484948,1.833628697535661e-05,1.8241667575520556e-05],"linkage_position_rad":[0.0029341734733946425,0.00015651411590548455,0.003193309078403996,-0.0034303718948640854,0.0029341359358636024,0.0001561634403200481,0.0031963769513644828,-0.003439324166714865],"tcp_position_m":[-0.13445478629934532,0.4790543809651782,0.33496665908524664],"tcp_quaternion_wxyz":[7.263852965996967e-05,0.7071029419383186,0.7071106141731913,-5.957709334655391e-05],"object_position_m":[-0.13444194840695226,0.47894614321010187,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3607899161970273e-12,-2.0297125417188573e-11,-1.0183085074463806e-15],"object_linear_velocity_m_s":[2.8065587325591522e-11,1.8816139705377245e-12,6.2999826083255755e-15],"object_angular_velocity_rad_s":[-1.2853492110995923e-11,1.917160891047877e-10,-1.1433646463850441e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534678753249,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569840107099688,-1.6112152342851511,1.6247598898752496,-1.6092572188813024,-1.5708119915610033,0.0009517669614542959,0.0],"actuator_force":[-0.049927867867609166,-20.24112627576551,-22.18251434108197,-2.28829334022646,-0.0005193342536813361,-6.884454458733202e-06,-0.29448898763042597],"issued_joint_targets_rad":[-1.5698453350711488,-1.601240288507013,1.6394568171096524,-1.608792589176771,-1.5708132681691633,0.0009509874647721909],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2199999999998665,"joint_targets_rad":[-1.5698453350711488,-1.601240288507013,1.6394568171096524,-1.608792589176771,-1.5708132681691633,0.0009509874647721909],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2399999999998643,"qpos":[-1.5698370385475826,-1.6008621019885412,1.597618429494056,-1.5673624459813902,-1.5708144930511094,0.0009484094542033617,0.0029341733378402796,0.0001565131606343625,0.003193315751059673,-0.0034303705725893924,0.0029341360384400397,0.00015616527396986607,0.0031963943595153333,-0.003439320061400468,-0.1344419484063498,0.4789461432101423,0.2998922445797836,1.0,1.3675070968715293e-12,-2.0397393806937066e-11,-1.1813568855171258e-15],"qvel":[0.00010244451720941649,-0.0005217587658326659,0.21230974832271787,-0.20837177185434125,1.8413029370555963e-05,1.2890271687060744e-05,0.0001101690420899904,3.127277333948658e-05,1.111171436748064e-05,-0.00024144681381963953,0.00010463419253142536,6.479438156780718e-06,-7.309563783019978e-05,-0.0002420284944583057,3.2713447682500463e-11,2.1932169474086456e-12,6.3013703871063564e-15,1.5388285838801986e-11,-2.295382171968345e-10,-2.087499293942067e-14],"joint_position_rad":[-1.5698370385475826,-1.6008621019885412,1.597618429494056,-1.5673624459813902,-1.5708144930511094,0.0009484094542033617],"joint_velocity_rad_s":[0.00010244451720941649,-0.0005217587658326659,0.21230974832271787,-0.20837177185434125,1.8413029370555963e-05,1.2890271687060744e-05],"linkage_position_rad":[0.0029341733378402796,0.0001565131606343625,0.003193315751059673,-0.0034303705725893924,0.0029341360384400397,0.00015616527396986607,0.0031963943595153333,-0.003439320061400468],"tcp_position_m":[-0.13445495661600182,0.4790444906479281,0.3332604261423334],"tcp_quaternion_wxyz":[7.372952279332572e-05,0.7071029311040922,0.7071106247940959,-6.0755755384431835e-05],"object_position_m":[-0.1344419484063498,0.4789461432101423,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3675070968715293e-12,-2.0397393806937066e-11,-1.1813568855171258e-15],"object_linear_velocity_m_s":[3.2713447682500463e-11,2.1932169474086456e-12,6.3013703871063564e-15],"object_angular_velocity_rad_s":[1.5388285838802297e-11,-2.2953821719683447e-10,-2.08749929394491e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353446880383,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698408905811414,-1.611089375237179,1.628989765895259,-1.6136132105717484,-1.5708118546592666,0.0009509845199011711,0.0],"actuator_force":[-0.048681874001431424,-20.245842990942947,-22.181226526681257,-2.288205109744922,-0.000522107015626716,-1.494319801287336e-06,-0.2944894849871231],"issued_joint_targets_rad":[-1.5698462965735396,-1.6010968401696526,1.6436701686500967,-1.6131500693801355,-1.5708131323942318,0.0009500287519985884],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2399999999998643,"joint_targets_rad":[-1.5698462965735396,-1.6010968401696526,1.6436701686500967,-1.6131500693801355,-1.5708131323942318,0.0009500287519985884],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.259999999999862,"qpos":[-1.569836850212431,-1.6008873234395893,1.6019948874796137,-1.5717106799755183,-1.5708143646645938,0.0009485688766095828,0.002934173160600613,0.00015651220574167747,0.0031933222961971737,-0.0034303692393128126,0.002934136098082366,0.00015616710282526436,0.0031964116247454773,-0.003439315939402243,-0.1344419484057716,0.4789461432101811,0.2998922445797836,1.0,1.2979767630032829e-12,-1.936021320567197e-11,-1.3459026956285967e-15],"qvel":[9.357028274717497e-05,0.00033687975993200567,0.21148978927604764,-0.20841904498004188,1.8479179527541854e-05,7.242687317209049e-06,0.00011019214624964569,3.119904118287564e-05,1.1761379589586082e-05,-0.00024133157474596107,0.00010471156428729667,6.6719380937247456e-06,-7.148960995940595e-05,-0.00024183167110945484,3.990718873707322e-11,2.675543547226775e-12,6.299982608325575e-15,5.86538766492418e-11,-8.748161707808315e-10,-3.811238993303656e-14],"joint_position_rad":[-1.569836850212431,-1.6008873234395893,1.6019948874796137,-1.5717106799755183,-1.5708143646645938,0.0009485688766095828],"joint_velocity_rad_s":[9.357028274717497e-05,0.00033687975993200567,0.21148978927604764,-0.20841904498004188,1.8479179527541854e-05,7.242687317209049e-06],"linkage_position_rad":[0.002934173160600613,0.00015651220574167747,0.0031933222961971737,-0.0034303692393128126,0.002934136098082366,0.00015616710282526436,0.0031964116247454773,-0.003439315939402243],"tcp_position_m":[-0.13445507040904064,0.47903480468465925,0.3315541212667661],"tcp_quaternion_wxyz":[7.474675578894764e-05,0.7071029207752361,0.7071106349201511,-6.186172243033238e-05],"object_position_m":[-0.1344419484057716,0.4789461432101811,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2979767630032829e-12,-1.936021320567197e-11,-1.3459026956285967e-15],"object_linear_velocity_m_s":[3.990718873707322e-11,2.675543547226775e-12,6.299982608325575e-15],"object_angular_velocity_rad_s":[5.865387664924092e-11,-8.748161707808316e-10,-3.8112389932915565e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534260900705,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698418504242393,-1.6109454377664865,1.6332030592839923,-1.617970716579586,-1.5708117184447052,0.0009500258017301942,0.0],"actuator_force":[-0.047428536715869996,-20.250980557767434,-22.179572101661506,-2.288113804029649,-0.0005248080085493712,4.193828584853065e-06,-0.29448998148683364],"issued_joint_targets_rad":[-1.569847448857274,-1.6009350224473962,1.6478667493168715,-1.6175091416238216,-1.5708129972965321,0.0009488794284274512],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.259999999999862,"joint_targets_rad":[-1.569847448857274,-1.6009350224473962,1.6478667493168715,-1.6175091416238216,-1.5708129972965321,0.0009488794284274512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.27999999999986,"qpos":[-1.5698367874805035,-1.6008947053838412,1.6063543394768656,-1.5760599335984735,-1.5708142351476482,0.0009486037356353329,0.0029341729505672595,0.0001565112512032306,0.003193328721699375,-0.0034303679040753117,0.002934136123545441,0.00015616892672812231,0.003196428754984095,-0.0034393118084505344,-0.13444194840523313,0.4789461432102173,0.2998922445797836,1.0,1.1244812322691596e-12,-1.6772261105753995e-11,-1.4904720818758883e-15],"qvel":[8.435093946468949e-05,0.001198219417766307,0.21067096620238943,-0.20846921440413219,1.8535560559696115e-05,1.261510445536488e-06,0.00011021538553662781,3.112468904879487e-05,1.2405844724746173e-05,-0.00024121679531719626,0.0001047892206660284,6.864363761081129e-06,-6.988735873264604e-05,-0.00024163609196313732,2.051032020831171e-11,1.3750940049685105e-12,6.2958192719832294e-15,-4.8040255967757335e-11,7.165520614187564e-10,-4.1291661391210834e-15],"joint_position_rad":[-1.5698367874805035,-1.6008947053838412,1.6063543394768656,-1.5760599335984735,-1.5708142351476482,0.0009486037356353329],"joint_velocity_rad_s":[8.435093946468949e-05,0.001198219417766307,0.21067096620238943,-0.20846921440413219,1.8535560559696115e-05,1.261510445536488e-06],"linkage_position_rad":[0.0029341729505672595,0.0001565112512032306,0.003193328721699375,-0.0034303679040753117,0.002934136123545441,0.00015616892672812231,0.003196428754984095,-0.0034393118084505344],"tcp_position_m":[-0.13445512451467845,0.47902533797614777,0.32984774444347903],"tcp_quaternion_wxyz":[7.569771931900767e-05,0.707102910819646,0.7071106446826629,-6.290236151549273e-05],"object_position_m":[-0.13444194840523313,0.4789461432102173,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1244812322691596e-12,-1.6772261105753995e-11,-1.4904720818758883e-15],"object_linear_velocity_m_s":[2.051032020831171e-11,1.3750940049685105e-12,6.2958192719832294e-15],"object_angular_velocity_rad_s":[-4.804025596775506e-11,7.165520614187565e-10,-4.129166139109826e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534054977493,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.56984300098226,-1.6107833325733665,1.6373997577324957,-1.6223298148753824,-1.5708115829036005,0.0009488764729940668,0.0],"actuator_force":[-0.0461673792988222,-20.256542146157244,-22.17754996969552,-2.2880191980412974,-0.0005274340321648197,1.0217634813292076e-05,-0.2944904767366483],"issued_joint_targets_rad":[-1.5698488087950375,-1.600754731296784,1.6520465325233946,-1.6218698835202927,-1.57081286285908,0.0009475226440287349],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.27999999999986,"joint_targets_rad":[-1.5698488087950375,-1.600754731296784,1.6520465325233946,-1.6218698835202927,-1.57081286285908,0.0009475226440287349],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2999999999998577,"qpos":[-1.5698368578193371,-1.60088418808981,1.6106968057728424,-1.5804102678836467,-1.5708141046344,0.0009485061635023111,0.002934172714943249,0.00015651029697961384,0.0031933350335092135,-0.0034303665744867375,0.0029341361218651564,0.00015617074549538219,0.003196445756340582,-0.003439307674460899,-0.13444194840461035,0.4789461432102591,0.2998922445797836,1.0,1.202630702231606e-12,-1.7938016682708927e-11,-1.7544202395065884e-15],"qvel":[7.473795634105288e-05,0.0020624853016480266,0.20985304206140473,-0.2085223650553533,1.8582887184706385e-05,-5.098626986554006e-06,0.00011023861555157072,3.104963117116431e-05,1.3045350225053817e-05,-0.0002411020885630047,0.0001048670643123455,7.0568285285139636e-06,-6.828801632258686e-05,-0.00024144147498137507,2.2158090380576956e-11,1.4855609966293264e-12,6.301370387106356e-15,-4.234516854584447e-11,6.315999285309581e-10,-7.538843715400162e-15],"joint_position_rad":[-1.5698368578193371,-1.60088418808981,1.6106968057728424,-1.5804102678836467,-1.5708141046344,0.0009485061635023111],"joint_velocity_rad_s":[7.473795634105288e-05,0.0020624853016480266,0.20985304206140473,-0.2085223650553533,1.8582887184706385e-05,-5.098626986554006e-06],"linkage_position_rad":[0.002934172714943249,0.00015651029697961384,0.0031933350335092135,-0.0034303665744867375,0.0029341361218651564,0.00015617074549538219,0.003196445756340582,-0.003439307674460899],"tcp_position_m":[-0.13445511534053514,0.4790161075716043,0.32814129566678785],"tcp_quaternion_wxyz":[7.658917852563788e-05,0.7071029010953501,0.707110654222823,-6.38843319761526e-05],"object_position_m":[-0.13444194840461035,0.4789461432102591,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.202630702231606e-12,-1.7938016682708927e-11,-1.7544202395065884e-15],"object_linear_velocity_m_s":[2.2158090380576956e-11,1.4855609966293264e-12,6.301370387106356e-15],"object_angular_velocity_rad_s":[-4.234516854584198e-11,6.315999285309582e-10,-7.53884371541391e-15],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533850986193,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698443591286544,-1.6106029567481126,1.641579834780443,-1.6266905830099898,-1.570811448019416,0.00094751968363498,0.0],"actuator_force":[-0.04489780117091868,-20.262531437264443,-22.175158809360255,-2.287921057636254,-0.0005299812265775472,1.662276498981541e-05,-0.29449097023973986],"issued_joint_targets_rad":[-1.569850396465947,-1.6005558455448947,1.6562094741885371,-1.6262323723617218,-1.570812729061705,0.0009459383475675105],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2999999999998577,"joint_targets_rad":[-1.569850396465947,-1.6005558455448947,1.6562094741885371,-1.6262323723617218,-1.570812729061705,0.0009459383475675105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3199999999998555,"qpos":[-1.5698370698075,-1.600855706184593,1.615022300703733,-1.584761745389006,-1.570813973235788,0.0009482671394555794,0.002934172459536019,0.00015650934301899335,0.0031933412357903293,-0.003430365257064586,0.0029341360986369696,0.00015617255889414992,0.003196462633221216,-0.003439303541752852,-0.13444194840400256,0.47894614321029977,0.2998922445797836,1.0,1.2637716475216727e-12,-1.8849934968769867e-11,-2.0538894608327465e-15],"qvel":[6.467194356707779e-05,0.0029299609677790974,0.20903572143267113,-0.2085785728480115,1.8621767921979424e-05,-1.1893438380407134e-05,0.00011026168633180516,3.097376050815347e-05,1.3680221262215468e-05,-0.00024098699657987288,0.00010494500365024928,7.249471225299644e-06,-6.669048643308297e-05,-0.00024124749766221522,2.412598192915069e-11,1.6175013529627688e-12,6.298594829544791e-15,-3.168116820624909e-11,4.725466557221086e-10,-1.376406513659046e-14],"joint_position_rad":[-1.5698370698075,-1.600855706184593,1.615022300703733,-1.584761745389006,-1.570813973235788,0.0009482671394555794],"joint_velocity_rad_s":[6.467194356707779e-05,0.0029299609677790974,0.20903572143267113,-0.2085785728480115,1.8621767921979424e-05,-1.1893438380407134e-05],"linkage_position_rad":[0.002934172459536019,0.00015650934301899335,0.0031933412357903293,-0.003430365257064586,0.0029341360986369696,0.00015617255889414992,0.003196462633221216,-0.003439303541752852],"tcp_position_m":[-0.13445503877044046,0.4790071331430954,0.32643477494219086],"tcp_quaternion_wxyz":[7.742724126605324e-05,0.7071028914455671,0.7071106636966596,-6.481365362520668e-05],"object_position_m":[-0.13444194840400256,0.47894614321029977,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2637716475216727e-12,-1.8849934968769867e-11,-2.0538894608327465e-15],"object_linear_velocity_m_s":[2.412598192915069e-11,1.6175013529627688e-12,6.298594829544791e-15],"object_angular_velocity_rad_s":[-3.168116820624663e-11,4.725466557221087e-10,-1.376406513658425e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533648896963,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698459449433126,-1.6104041903613708,1.6457432464818047,-1.6310530982196723,-1.5708113137723518,0.0009459353823929624,0.0],"actuator_force":[-0.04361904905181291,-20.268952740667373,-22.17239701692506,-2.2878191305319433,-0.0005324450742136833,2.346530673219549e-05,-0.2944914613585597],"issued_joint_targets_rad":[-1.5698522361019795,-1.6003382221631888,1.6603555081414711,-1.6305966852611564,-1.5708125958803796,0.000944102341862234],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3199999999998555,"joint_targets_rad":[-1.5698522361019795,-1.6003382221631888,1.6603555081414711,-1.6305966852611564,-1.5708125958803796,0.000944102341862234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3399999999998533,"qpos":[-1.5698374333974043,-1.6008091871693688,1.619330831165958,-1.5891144300198485,-1.5708138410387027,0.000947876207257863,0.002934172188994566,0.00015650838926210337,0.0031933473309689285,-0.003430363957574115,0.002934136058231694,0.00015617436660514053,0.003196479388304738,-0.00343929941319956,-0.1344419484034115,0.4789461432103394,0.2998922445797836,1.0,1.2975353463961317e-12,-1.935330591404429e-11,-2.387090433620253e-15],"qvel":[5.407913445675716e-05,0.0038010048844369314,0.20821863478123964,-0.20863790639067148,1.8652704706702654e-05,-1.91923273717108e-05,0.00011028443251758135,3.089694074157311e-05,1.431089288483081e-05,-0.0002408709558784468,0.00010502294734684207,7.44246572800019e-06,-6.509336478784844e-05,-0.0002410537754386074,2.6788703260775073e-11,1.7960423056505429e-12,6.295819271983228e-15,-1.4057601034676648e-11,2.096947120203308e-10,-2.512970798392113e-14],"joint_position_rad":[-1.5698374333974043,-1.6008091871693688,1.619330831165958,-1.5891144300198485,-1.5708138410387027,0.000947876207257863],"joint_velocity_rad_s":[5.407913445675716e-05,0.0038010048844369314,0.20821863478123964,-0.20863790639067148,1.8652704706702654e-05,-1.91923273717108e-05],"linkage_position_rad":[0.002934172188994566,0.00015650838926210337,0.0031933473309689285,-0.003430363957574115,0.002934136058231694,0.00015617436660514053,0.003196479388304738,-0.00343929941319956],"tcp_position_m":[-0.13445489003933525,0.47899843761015315,0.32472818228995315],"tcp_quaternion_wxyz":[7.821741894355387e-05,0.7071028816917486,0.7071106732820018,-6.569576812988126e-05],"object_position_m":[-0.1344419484034115,0.4789461432103394,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2975353463961317e-12,-1.935330591404429e-11,-2.387090433620253e-15],"object_linear_velocity_m_s":[2.6788703260775073e-11,1.7960423056505429e-12,6.295819271983228e-15],"object_angular_velocity_rad_s":[-1.4057601034674674e-11,2.0969471202033094e-10,-2.5129707983870633e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533448699703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698477826589738,-1.6101868917687818,1.6498899268100815,-1.6354174375665205,-1.5708111801386724,0.0009440993720638791,0.0],"actuator_force":[-0.04233017692149588,-20.275811152600454,-22.16926262424886,-2.28771313426887,-0.0005348204555275515,3.0815140179163425e-05,-0.29449194926063516],"issued_joint_targets_rad":[-1.5698543574258177,-1.6001016896059155,1.6644845396391423,-1.6349628993468068,-1.5708124632862037,0.0009419849483596434],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3399999999998533,"joint_targets_rad":[-1.5698543574258177,-1.6001016896059155,1.6644845396391423,-1.6349628993468068,-1.5708124632862037,0.0009419849483596434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.359999999999851,"qpos":[-1.5698379602684054,-1.6007445494692165,1.6236223946720485,-1.5934683868811232,-1.5708137081039268,0.0009473210935688687,0.002934171907001017,0.00015650743565052657,0.003193353319634184,-0.003430362681361957,0.002934136003954473,0.00015617616816674605,0.003196496022337688,-0.0034392952902792024,-0.1344419484028409,0.47894614321037765,0.2998922445797836,1.0,1.2888647886717276e-12,-1.92238664974018e-11,-2.7454491329312105e-15],"qvel":[4.2866320672264695e-05,0.004676074331219976,0.20740131546690843,-0.20870042885993567,1.8676089340911394e-05,-2.708320541414016e-05,0.00011030666038951199,3.0818994175081095e-05,1.493794864296205e-05,-0.00024075324691271758,0.00010510079780761388,7.636035490445156e-06,-6.349481887031605e-05,-0.0002408598279168574,3.0811997844541994e-11,2.065793116943276e-12,6.299982608325572e-15,1.3282831686661478e-11,-1.9811199277069425e-10,-4.588043659618222e-14],"joint_position_rad":[-1.5698379602684054,-1.6007445494692165,1.6236223946720485,-1.5934683868811232,-1.5708137081039268,0.0009473210935688687],"joint_velocity_rad_s":[4.2866320672264695e-05,0.004676074331219976,0.20740131546690843,-0.20870042885993567,1.8676089340911394e-05,-2.708320541414016e-05],"linkage_position_rad":[0.002934171907001017,0.00015650743565052657,0.003193353319634184,-0.003430362681361957,0.002934136003954473,0.00015617616816674605,0.003196496022337688,-0.0034392952902792024],"tcp_position_m":[-0.13445466356542665,0.4789900479791922,0.32302151775147514],"tcp_quaternion_wxyz":[7.896468015207477e-05,0.7071028716234932,0.7071106831885675,-6.653559407919433e-05],"object_position_m":[-0.1344419484028409,0.47894614321037765,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2888647886717276e-12,-1.92238664974018e-11,-2.7454491329312105e-15],"object_linear_velocity_m_s":[3.0811997844541994e-11,2.065793116943276e-12,6.299982608325572e-15],"object_angular_velocity_rad_s":[1.3282831686662155e-11,-1.981119927706942e-10,-4.5880436596166596e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533250407809,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569849901999049,-1.6099508909898055,1.6540197811762578,-1.6397836781319959,-1.570811047089684,0.0009419819740740797,0.0],"actuator_force":[-0.04102998955613657,-20.283112773665835,-22.165753178344858,-2.2876027394427183,-0.0005371018127107163,3.876079401948784e-05,-0.2944924328387601],"issued_joint_targets_rad":[-1.56985679759691,-1.599846038156571,1.668596435966297,-1.639331092038714,-1.570812331243867,0.0009395490646733589],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.359999999999851,"joint_targets_rad":[-1.56985679759691,-1.599846038156571,1.668596435966297,-1.639331092038714,-1.570812331243867,0.0009395490646733589],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.379999999999849,"qpos":[-1.569838664312609,-1.6006616997922072,1.6278969767280869,-1.5978236821609466,-1.5708135744622396,0.0009465871795262875,0.0029341716164248146,0.00015650648214161062,0.0031933592002270366,-0.003430361433766789,0.0029341359381473884,0.00015617796288537654,0.003196512533647158,-0.0034392911730365613,-0.13444194840226678,0.4789461432104162,0.2998922445797836,1.0,1.2950372730413534e-12,-1.931598586087595e-11,-3.1685469058283315e-15],"qvel":[3.091334798653413e-05,0.005555760954495248,0.20658316540631,-0.2087662002064575,1.8692195664155122e-05,-3.567963399805444e-05,0.00011032812905783157,3.0739683026961926e-05,1.5562181885835123e-05,-0.00024063291946277063,0.00010517844233297106,7.83047571420145e-06,-6.189240043348839e-05,-0.00024066503128353302,3.774977617855878e-11,2.530910144527547e-12,6.301370387106354e-15,5.2708485087648177e-11,-7.861947304710672e-10,-8.376585096333462e-14],"joint_position_rad":[-1.569838664312609,-1.6006616997922072,1.6278969767280869,-1.5978236821609466,-1.5708135744622396,0.0009465871795262875],"joint_velocity_rad_s":[3.091334798653413e-05,0.005555760954495248,0.20658316540631,-0.2087662002064575,1.8692195664155122e-05,-3.567963399805444e-05],"linkage_position_rad":[0.0029341716164248146,0.00015650648214161062,0.0031933592002270366,-0.003430361433766789,0.0029341359381473884,0.00015617796288537654,0.003196512533647158,-0.0034392911730365613],"tcp_position_m":[-0.13445435271952846,0.4789819964988643,0.3213147814002214],"tcp_quaternion_wxyz":[7.967349697385394e-05,0.7071028609834861,0.7071106936730295,-6.733757603851087e-05],"object_position_m":[-0.13444194840226678,0.4789461432104162,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2950372730413534e-12,-1.931598586087595e-11,-3.1685469058283315e-15],"object_linear_velocity_m_s":[3.774977617855878e-11,2.530910144527547e-12,6.301370387106354e-15],"object_angular_velocity_rad_s":[5.270848508764643e-11,-7.861947304710673e-10,-8.376585096340487e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353305406583,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698523401236575,-1.6096959801088464,1.6581326770294813,-1.6441518972928202,-1.5708109145901865,0.0009395460860187735,0.0],"actuator_force":[-0.039716961292015185,-20.290865015076633,-22.161865559734906,-2.2874875452910146,-0.0005392835398652096,4.7416646048348277e-05,-0.29449291058556415],"issued_joint_targets_rad":[-1.5698585632494837,-1.5996776197449583,1.6687807734063929,-1.6397032209422275,-1.5708108227061914,0.0009377854170046737],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.379999999999849,"joint_targets_rad":[-1.5698585632494837,-1.5996776197449583,1.6687807734063929,-1.6397032209422275,-1.5708108227061914,0.0009377854170046737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3999999999998467,"qpos":[-1.5698392671971537,-1.6005384709516925,1.6318353669612908,-1.601818739291656,-1.570813212207857,0.0009457504275518012,0.0029362343482536176,0.00015675226271850582,0.0031947362738737723,-0.0034335678563604264,0.0029361729499414184,0.00015633591926099422,0.003197557978721145,-0.003442522945823131,-0.13444194840171825,0.47894614321045287,0.2998922445797836,1.0,1.1829198502796829e-12,-1.7643845686106028e-11,-3.558220467876432e-15],"qvel":[-9.820098349610167e-05,0.006204905822880594,0.18779656680644743,-0.19039285675779655,1.5374802101491382e-05,-4.026343123380637e-05,0.00010213301005978332,3.0008761540103194e-06,9.074089547975689e-05,-0.00011685666275411917,0.0001025882553808805,5.176770079519346e-06,9.676596425446366e-05,-0.00011918726893966891,4.919897094203987e-11,3.2984800409829295e-12,6.30692150222948e-15,1.1092792560640692e-10,-1.6545867861692053e-09,-1.5293481224866989e-13],"joint_position_rad":[-1.5698392671971537,-1.6005384709516925,1.6318353669612908,-1.601818739291656,-1.570813212207857,0.0009457504275518012],"joint_velocity_rad_s":[-9.820098349610167e-05,0.006204905822880594,0.18779656680644743,-0.19039285675779655,1.5374802101491382e-05,-4.026343123380637e-05],"linkage_position_rad":[0.0029362343482536176,0.00015675226271850582,0.0031947362738737723,-0.0034335678563604264,0.0029361729499414184,0.00015633591926099422,0.003197557978721145,-0.003442522945823131],"tcp_position_m":[-0.13445414582856544,0.4789708088713181,0.31971821818205715],"tcp_quaternion_wxyz":[0.00010310107353789179,0.7071027752760057,0.7071107737055,-9.097663168204346e-05],"object_position_m":[-0.13444194840171825,0.47894614321045287,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1829198502796829e-12,-1.7643845686106028e-11,-3.558220467876432e-15],"object_linear_velocity_m_s":[4.919897094203987e-11,3.2984800409829295e-12,6.30692150222948e-15],"object_angular_velocity_rad_s":[1.1092792560640055e-10,-1.6545867861692058e-09,-1.529348122487666e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353647982971,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698548316759033,-1.6095262768763363,1.6583179287317784,-1.6445247747171075,-1.5708094048002885,0.0009377827758018938,0.0],"actuator_force":[0.008151435898980708,-20.457574178440154,-22.15350318160381,-2.3137320369460213,0.00036622357413307327,4.251724842690985e-05,-0.2946439712369551],"issued_joint_targets_rad":[-1.5698600963808023,-1.5995427779382276,1.6686672878166673,-1.639743676042276,-1.5708093564664036,0.0009362529709979458],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3999999999998467,"joint_targets_rad":[-1.5698600963808023,-1.5995427779382276,1.6686672878166673,-1.639743676042276,-1.5708093564664036,0.0009362529709979458],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4199999999998445,"qpos":[-1.569840953162136,-1.600410566076079,1.6353881536902046,-1.6054357333475626,-1.5708128350910526,0.0009448468308770328,0.002938005743603077,0.00015674589913191328,0.0031964813621429703,-0.0034352632980558127,0.0029379512846730484,0.00015636531615080256,0.0031994100884431722,-0.003444241449010749,-0.1344419484011099,0.4789461432104937,0.2998922445797836,1.0,1.208770854887245e-12,-1.802954252641813e-11,-4.138338614853498e-15],"qvel":[-0.00011863299382552029,0.006147352772283533,0.16920464814564382,-0.17239874419134654,1.8243570244605125e-05,-4.341446819854815e-05,7.510567967019779e-05,-2.671212850108067e-06,8.099494729298103e-05,-6.281063981091286e-05,7.58138320433382e-05,1.0794737848492858e-06,9.451096407788693e-05,-6.148723570761089e-05,2.210335481869554e-11,1.4818953843678452e-12,6.297207050764009e-15,-4.4348616362978934e-11,6.614856605048601e-10,-1.656923458989497e-14],"joint_position_rad":[-1.569840953162136,-1.600410566076079,1.6353881536902046,-1.6054357333475626,-1.5708128350910526,0.0009448468308770328],"joint_velocity_rad_s":[-0.00011863299382552029,0.006147352772283533,0.16920464814564382,-0.17239874419134654,1.8243570244605125e-05,-4.341446819854815e-05],"linkage_position_rad":[0.002938005743603077,0.00015674589913191328,0.0031964813621429703,-0.0034352632980558127,0.0029379512846730484,0.00015636531615080256,0.0031994100884431722,-0.003444241449010749],"tcp_position_m":[-0.1344534254396618,0.47896127265177496,0.3182714282764134],"tcp_quaternion_wxyz":[0.0001255096223262095,0.7071030482706471,0.7071104938173522,-0.00011360929966395865],"object_position_m":[-0.1344419484011099,0.4789461432104937,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.208770854887245e-12,-1.802954252641813e-11,-4.138338614853498e-15],"object_linear_velocity_m_s":[2.210335481869554e-11,1.4818953843678452e-12,6.297207050764009e-15],"object_angular_velocity_rad_s":[-4.4348616362972866e-11,6.614856605048605e-10,-1.6569234589896324e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519965629288,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698570476264853,-1.609390397873103,1.6582053998886739,-1.6445659178605545,-1.5708079373285317,0.0009362506445105465,0.0],"actuator_force":[0.015264268831742811,-20.418604702961147,-22.04736686131946,-2.325217837361265,0.0006245242359455005,4.3353636611676016e-05,-0.2945524489723739],"issued_joint_targets_rad":[-1.5698614651414782,-1.5994334972814919,1.6685769281385046,-1.6397797888014636,-1.57080804739225,0.000934884457219574],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4199999999998445,"joint_targets_rad":[-1.5698614651414782,-1.5994334972814919,1.6685769281385046,-1.6397797888014636,-1.57080804739225,0.000934884457219574],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4399999999998423,"qpos":[-1.569842858208449,-1.6002868097365028,1.6385898057080424,-1.608711170654923,-1.5708123869808486,0.0009438981249989865,0.0029392574619285555,0.0001567031547850608,0.0031978483060913212,-0.003436282814886635,0.0029392092658922244,0.0001563623386220325,0.00320092346796384,-0.0034452390764235946,-0.13444194840048135,0.47894614321053586,0.2998922445797836,1.0,1.2883226872326157e-12,-1.9215945006132728e-11,-4.880722205908227e-15],"qvel":[-0.00011713854556621702,0.005912495337488685,0.15247347556730417,-0.15612164163301187,2.2146994149066737e-05,-4.5530712992542746e-05,5.135190643785269e-05,-2.65442337059002e-06,5.8776404609775806e-05,-3.9838810291829125e-05,5.189976771508283e-05,5.409874804955892e-07,7.080893863104536e-05,-3.7806611330008456e-05,2.42623353542933e-11,1.626653044488575e-12,6.290268156860101e-15,-3.5489283382732694e-11,5.293455248318325e-10,-3.0251157137335354e-14],"joint_position_rad":[-1.569842858208449,-1.6002868097365028,1.6385898057080424,-1.608711170654923,-1.5708123869808486,0.0009438981249989865],"joint_velocity_rad_s":[-0.00011713854556621702,0.005912495337488685,0.15247347556730417,-0.15612164163301187,2.2146994149066737e-05,-4.5530712992542746e-05],"linkage_position_rad":[0.0029392574619285555,0.0001567031547850608,0.0031978483060913212,-0.003436282814886635,0.0029392092658922244,0.0001563623386220325,0.00320092346796384,-0.0034452390764235946],"tcp_position_m":[-0.1344526200300392,0.47895356564205577,0.31696530538305523],"tcp_quaternion_wxyz":[0.00014303536641964098,0.7071033830678568,0.7071101526098982,-0.00013141872502306492],"object_position_m":[-0.13444194840048135,0.47894614321053586,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2883226872326157e-12,-1.9215945006132728e-11,-4.880722205908227e-15],"object_linear_velocity_m_s":[2.42623353542933e-11,1.626653044488575e-12,6.290268156860101e-15],"object_angular_velocity_rad_s":[-3.548928338272636e-11,5.293455248318329e-10,-3.025115713731989e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313504224465516,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698589781109165,-1.6092804615156577,1.6581160259677041,-1.6446025988837436,-1.5708066267952887,0.0009348823930544142,0.0],"actuator_force":[0.014615613291425689,-20.35230169330498,-21.93694970759816,-2.3335499511091484,0.0006653933650113686,4.520532696805635e-05,-0.2944395947618037],"issued_joint_targets_rad":[-1.569862688414997,-1.5993453643452482,1.6685054877741288,-1.6398119654004768,-1.5708068772043415,0.000933661170774084],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4399999999998423,"joint_targets_rad":[-1.569862688414997,-1.5993453643452482,1.6685054877741288,-1.6398119654004768,-1.5708068772043415,0.000933661170774084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.45999999999984,"qpos":[-1.5698447884383873,-1.600169142522378,1.6414757498733974,-1.611677370718132,-1.5708118712275645,0.0009429224769833033,0.0029400860717973894,0.0001566630192878245,0.0031987987117941884,-0.0034369113857571063,0.0029400430004211074,0.00015635753953010295,0.0032020080378567625,-0.003445841768110786,-0.13444194839986626,0.4789461432105772,0.2998922445797836,1.0,1.3370873647294892e-12,-1.994312737825432e-11,-5.711602897772772e-15],"qvel":[-0.00011271116238686163,0.005610198738876629,0.137439225745526,-0.1413800151103383,2.5288371377308933e-05,-4.677993904802803e-05,3.265243020909548e-05,-2.3447768941345624e-06,3.944734396089728e-05,-2.3013661289689164e-05,3.3111598746292084e-05,3.840234730394352e-07,4.977770529327606e-05,-2.1212588159299123e-05,2.6914020200482154e-11,1.804448719900272e-12,6.294431493202446e-15,-1.961960446033117e-11,2.926433179922169e-10,-5.5230858693777764e-14],"joint_position_rad":[-1.5698447884383873,-1.600169142522378,1.6414757498733974,-1.611677370718132,-1.5708118712275645,0.0009429224769833033],"joint_velocity_rad_s":[-0.00011271116238686163,0.005610198738876629,0.137439225745526,-0.1413800151103383,2.5288371377308933e-05,-4.677993904802803e-05],"linkage_position_rad":[0.0029400860717973894,0.0001566630192878245,0.0031987987117941884,-0.0034369113857571063,0.0029400430004211074,0.00015635753953010295,0.0032020080378567625,-0.003445841768110786],"tcp_position_m":[-0.13445182134211292,0.47894738621119076,0.3157865571854175],"tcp_quaternion_wxyz":[0.00015609242236618777,0.7071037178083667,0.7071098124938734,-0.00014481581441494514],"object_position_m":[-0.13444194839986626,0.4789461432105772,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3370873647294892e-12,-1.994312737825432e-11,-5.711602897772772e-15],"object_linear_velocity_m_s":[2.6914020200482154e-11,1.804448719900272e-12,6.294431493202446e-15],"object_angular_velocity_rad_s":[-1.9619604460325623e-11,2.9264331799221726e-10,-5.523085869375094e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492421807931,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698606599719753,-1.6091919630287772,1.6580455749822194,-1.6446352465761895,-1.5708054549209152,0.0009336593257363012,0.0],"actuator_force":[0.013341397778731334,-20.28972050834909,-21.836040080566363,-2.3409364179949534,0.0006793161870746189,4.641828130169667e-05,-0.29433527375570173],"issued_joint_targets_rad":[-1.5698637830181776,-1.599274417920228,1.668449237867358,-1.6398406159119312,-1.570805829833916,0.0009325663602609644],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.45999999999984,"joint_targets_rad":[-1.5698637830181776,-1.599274417920228,1.668449237867358,-1.6398406159119312,-1.570805829833916,0.0009325663602609644],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.479999999999838,"qpos":[-1.5698466951218193,-1.6000584514758784,1.6440778764542785,-1.6143634805521894,-1.5708113043534682,0.0009419348394861445,0.0029405853612542838,0.00015662683668045242,0.00319940962523879,-0.003437242310637678,0.002940546808662046,0.00015635279906017391,0.0032027386655850594,-0.003446149319083808,-0.13444194839926957,0.47894614321061735,0.2998922445797836,1.0,1.34346418647573e-12,-2.0038187476793493e-11,-6.614591200522495e-15],"qvel":[-0.00010738639562997772,0.005270036078897533,0.12392406511916379,-0.12802788546006647,2.7607678751081038e-05,-4.732021204218233e-05,1.8217501455325108e-05,-2.0613133307200787e-06,2.4251762184872787e-05,-1.0148181166023943e-05,1.8606210393764728e-05,2.714777221005162e-07,3.309425279631027e-05,-8.589732768359449e-06,3.0708816522248136e-11,2.058877619433912e-12,6.301370387106355e-15,5.733592697192491e-12,-8.55167038748665e-11,-1.0083786880473006e-13],"joint_position_rad":[-1.5698466951218193,-1.6000584514758784,1.6440778764542785,-1.6143634805521894,-1.5708113043534682,0.0009419348394861445],"joint_velocity_rad_s":[-0.00010738639562997772,0.005270036078897533,0.12392406511916379,-0.12802788546006647,2.7607678751081038e-05,-4.732021204218233e-05],"linkage_position_rad":[0.0029405853612542838,0.00015662683668045242,0.00319940962523879,-0.003437242310637678,0.002940546808662046,0.00015635279906017391,0.0032027386655850594,-0.003446149319083808],"tcp_position_m":[-0.13445104824261966,0.47894247776421117,0.3147228118633725],"tcp_quaternion_wxyz":[0.00016534353928281158,0.7071040406426933,0.7071094855207222,-0.00015445034579319655],"object_position_m":[-0.13444194839926957,0.47894614321061735,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.34346418647573e-12,-2.0038187476793493e-11,-6.614591200522495e-15],"object_linear_velocity_m_s":[3.0708816522248136e-11,2.058877619433912e-12,6.301370387106355e-15],"object_angular_velocity_rad_s":[5.733592697195401e-12,-8.55167038748663e-11,-1.008378688047257e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484032187001,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698621286902417,-1.6091208648427955,1.657990298786075,-1.644664291076157,-1.570804405690683,0.0009325646996078977,0.0],"actuator_force":[0.012087421407159127,-20.232841165393438,-21.744781384072667,-2.3476167159770966,0.0006885635175422067,4.695126509485226e-05,-0.29424072705506193],"issued_joint_targets_rad":[-1.5698647636201701,-1.59921740900226,1.6684051523647552,-1.6398661205971061,-1.5708048912962607,0.0009315854011885551],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.479999999999838,"joint_targets_rad":[-1.5698647636201701,-1.59921740900226,1.6684051523647552,-1.6398661205971061,-1.5708048912962607,0.0009315854011885551],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4999999999998357,"qpos":[-1.5698485508942666,-1.599955199538127,1.6464247293774574,-1.6167958968414524,-1.5708107014150499,0.0009409473347783352,0.002940832054335025,0.0001565943535418956,0.003199757227344372,-0.0034373473273256357,0.0029407975064954205,0.00015634829300376895,0.003203192823756555,-0.0034462334057412157,-0.13444194839869814,0.47894614321065554,0.2998922445797836,1.0,1.2886412693213705e-12,-1.9220563504251228e-11,-7.544494060962971e-15],"qvel":[-0.00010159627265353183,0.004910040626282885,0.1117679691226168,-0.11593443909155941,2.922592043874989e-05,-4.728638972539098e-05,7.2143498893701e-06,-1.8127733213004626e-06,1.256897905445649e-05,-4.560158689833453e-07,7.544271473138042e-06,1.864073441899389e-07,2.015329506551726e-05,8.946437653081368e-07,3.672410153926455e-11,2.4621493112304805e-12,6.298594829544793e-15,4.411177310848026e-11,-6.579651431557282e-10,-1.8410446090934182e-13],"joint_position_rad":[-1.5698485508942666,-1.599955199538127,1.6464247293774574,-1.6167958968414524,-1.5708107014150499,0.0009409473347783352],"joint_velocity_rad_s":[-0.00010159627265353183,0.004910040626282885,0.1117679691226168,-0.11593443909155941,2.922592043874989e-05,-4.728638972539098e-05],"linkage_position_rad":[0.002940832054335025,0.0001565943535418956,0.003199757227344372,-0.0034373473273256357,0.0029407975064954205,0.00015634829300376895,0.003203192823756555,-0.0034462334057412157],"tcp_position_m":[-0.1344503097779178,0.4789386251105813,0.3137628687339452],"tcp_quaternion_wxyz":[0.00017139010762067596,0.7071043461857554,0.7071091770992695,-0.00016091189862816672],"object_position_m":[-0.13444194839869814,0.47894614321065554,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2886412693213705e-12,-1.9220563504251228e-11,-7.544494060962971e-15],"object_linear_velocity_m_s":[3.672410153926455e-11,2.4621493112304805e-12,6.298594829544793e-15],"object_angular_velocity_rad_s":[4.411177310847741e-11,-6.579651431557283e-10,-1.8410446090939764e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313478341728712,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698634144594372,-1.60906385824111,1.6579471574419173,-1.6446901285394868,-1.5708034651701208,0.0009315838969889954,0.0],"actuator_force":[0.010911378719811182,-20.181333656479183,-21.662331520126827,-2.3536719398613286,0.0006955304206712754,4.6920077869216925e-05,-0.29415527114833484],"issued_joint_targets_rad":[-1.5698656430219036,-1.5991716918550372,1.6683707925206022,-1.6398888263598388,-1.5708040493942195,0.0009307055264869285],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4999999999998357,"joint_targets_rad":[-1.5698656430219036,-1.5991716918550372,1.6683707925206022,-1.6398888263598388,-1.5708040493942195,0.0009307055264869285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5199999999998335,"qpos":[-1.5698503372247115,-1.5998595616334432,1.648541867583818,-1.618998534124315,-1.5708100750198821,0.0009399696932655145,0.002940887513869609,0.00015656519936122098,0.0031999038142105207,-0.00343728342414686,0.0029408565217593123,0.00015634406792633594,0.003203434358370385,-0.003446150759052405,-0.1344419483981633,0.4789461432106914,0.2998922445797836,1.0,1.1451435391918343e-12,-1.7080314954884127e-11,-8.400937477200868e-15],"qvel":[-9.557792236088852e-05,0.004543356485275378,0.10082879994581755,-0.1049812835124931,3.0260549715620675e-05,-4.679203137189161e-05,-1.054232778549799e-06,-1.5971462232504784e-06,3.70513462381296e-06,6.724373195538802e-06,-7.734368744935849e-07,1.209374741068567e-07,1.0228051709096306e-05,7.89761254790764e-06,4.676456937543455e-11,3.1353291856531626e-12,6.298594829544794e-15,1.0046664728402718e-10,-1.4984933938539466e-09,-3.361287732504116e-13],"joint_position_rad":[-1.5698503372247115,-1.5998595616334432,1.648541867583818,-1.618998534124315,-1.5708100750198821,0.0009399696932655145],"joint_velocity_rad_s":[-9.557792236088852e-05,0.004543356485275378,0.10082879994581755,-0.1049812835124931,3.0260549715620675e-05,-4.679203137189161e-05],"linkage_position_rad":[0.002940887513869609,0.00015656519936122098,0.0031999038142105207,-0.00343728342414686,0.0029408565217593123,0.00015634406792633594,0.003203434358370385,-0.003446150759052405],"tcp_position_m":[-0.13444961142336104,0.4789356478583235,0.31289661259640333],"tcp_quaternion_wxyz":[0.00017475662564811261,0.7071046312789399,0.7071088903082395,-0.00016471504352513996],"object_position_m":[-0.1344419483981633,0.4789461432106914,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1451435391918343e-12,-1.7080314954884127e-11,-8.400937477200868e-15],"object_linear_velocity_m_s":[4.676456937543455e-11,3.1353291856531626e-12,6.298594829544794e-15],"object_angular_velocity_rad_s":[1.0046664728401348e-10,-1.4984933938539475e-09,-3.361287732503877e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313474750257775,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698645427729148,-1.6090182512996376,1.6579137025721755,-1.644713118348366,-1.5708026212042903,0.0009307041562394347,0.0],"actuator_force":[0.009820072537877422,-20.134721926498514,-21.58785000161197,-2.359163760776255,0.0007008528243659384,4.643462414927191e-05,-0.2940780634331808],"issued_joint_targets_rad":[-1.5698664324241902,-1.599135114271545,1.6683441945880393,-1.6399090463625055,-1.5708032934570568,0.0009299155617038182],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5199999999998335,"joint_targets_rad":[-1.5698664324241902,-1.599135114271545,1.6683441945880393,-1.6399090463625055,-1.5708032934570568,0.0009299155617038182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5399999999998313,"qpos":[-1.5698520417994362,-1.5997715026310713,1.6504521968260537,-1.6209930585514791,-1.5708094355917015,0.0009390096353991864,0.0029408005141008994,0.00015653901980412422,0.003199899111729265,-0.003437095671998211,0.002940772684491632,0.0001563401335315676,0.0032035143777323226,-0.0034459462079720797,-0.13444194839758342,0.4789461432107302,0.2998922445797836,1.0,1.1478469658953618e-12,-1.7120605382982625e-11,-9.675954142790972e-15],"qvel":[-8.950176375749972e-05,0.0041796214819496465,0.09098026153803966,-0.09506115961704334,3.0812879178370326e-05,-4.593252435081635e-05,-7.153820496810133e-06,-1.4098458359302609e-06,-2.9163150043508683e-06,1.192020493672511e-05,-6.914175899252183e-06,7.079962719881065e-08,2.7093563511996554e-06,1.2941923029452078e-05,2.1064071943897e-11,1.4122365545776283e-12,6.2944314932024484e-15,-4.2875332776496495e-11,6.39504116990487e-10,-3.6416813205419055e-14],"joint_position_rad":[-1.5698520417994362,-1.5997715026310713,1.6504521968260537,-1.6209930585514791,-1.5708094355917015,0.0009390096353991864],"joint_velocity_rad_s":[-8.950176375749972e-05,0.0041796214819496465,0.09098026153803966,-0.09506115961704334,3.0812879178370326e-05,-4.593252435081635e-05],"linkage_position_rad":[0.0029408005141008994,0.00015653901980412422,0.003199899111729265,-0.003437095671998211,0.002940772684491632,0.0001563401335315676,0.0032035143777323226,-0.0034459462079720797],"tcp_position_m":[-0.13444895626338949,0.47893339475995156,0.31211491109677597],"tcp_quaternion_wxyz":[0.00017589789864355543,0.7071048942237265,0.7071086267094912,-0.0001663063398937752],"object_position_m":[-0.13444194839758342,0.4789461432107302,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1478469658953618e-12,-1.7120605382982625e-11,-9.675954142790972e-15],"object_linear_velocity_m_s":[2.1064071943897e-11,1.4122365545776283e-12,6.2944314932024484e-15],"object_angular_velocity_rad_s":[-4.287533277648287e-11,6.39504116990488e-10,-3.641681320541664e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313472774482674,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698655351918234,-1.6089818563786527,1.6578879640935182,-1.6447335834494252,-1.5708018631574245,0.0009299143072264626,0.0],"actuator_force":[0.008813920728698577,-20.09255608794274,-21.52057008028669,-2.364146487268613,0.0007049292205465463,4.5588348719760585e-05,-0.29400831994764626],"issued_joint_targets_rad":[-1.5698671416547891,-1.599105926481215,1.6683237780529057,-1.6399270611925865,-1.5708026141218172,0.0009292056999605592],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5399999999998313,"joint_targets_rad":[-1.5698671416547891,-1.599105926481215,1.6683237780529057,-1.6399270611925865,-1.5708026141218172,0.0009292056999605592],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.559999999999829,"qpos":[-1.5698536570364774,-1.599690836087584,1.6521762620228122,-1.6227990988303553,-1.570808791687533,0.0009380731961574992,0.0029406096478019044,0.00015651549912930714,0.0031997825774481336,-0.003436819592783611,0.002940584635369401,0.00015633648942733254,0.003203473540571263,-0.003445655059032841,-0.13444194839699092,0.47894614321077,0.2998922445797836,1.0,1.210987836365393e-12,-1.8062639908734005e-11,-1.1307610345402967e-14],"qvel":[-8.349276529856862e-05,0.00382575588273571,0.08210997259433217,-0.08607687892611167,3.096933086590428e-05,-4.4787846251446797e-05,-1.154117672181214e-05,-1.2467515906474409e-06,-7.762475250606567e-06,1.555589560121928e-05,-1.1336082989365454e-05,3.281887904748779e-08,-2.8972095340017373e-06,1.6447887388250945e-05,2.2844123411478408e-11,1.5315558773663354e-12,6.298594829544792e-15,-3.384558855034758e-11,5.04817099266501e-10,-6.64878798922433e-14],"joint_position_rad":[-1.5698536570364774,-1.599690836087584,1.6521762620228122,-1.6227990988303553,-1.570808791687533,0.0009380731961574992],"joint_velocity_rad_s":[-8.349276529856862e-05,0.00382575588273571,0.08210997259433217,-0.08607687892611167,3.096933086590428e-05,-4.4787846251446797e-05],"linkage_position_rad":[0.0029406096478019044,0.00015651549912930714,0.0031997825774481336,-0.003436819592783611,0.002940584635369401,0.00015633648942733254,0.003203473540571263,-0.003445655059032841],"tcp_position_m":[-0.1344483456174533,0.47893173899031494,0.31140951987689103],"tcp_quaternion_wxyz":[0.00017520717304650402,0.707105134386801,0.7071083867741103,-0.00016607222978527186],"object_position_m":[-0.13444194839699092,0.47894614321077,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.210987836365393e-12,-1.8062639908734005e-11,-1.1307610345402967e-14],"object_linear_velocity_m_s":[2.2844123411478408e-11,1.5315558773663354e-12,6.298594829544792e-15],"object_angular_velocity_rad_s":[-3.384558855033376e-11,5.04817099266502e-10,-6.648787989226992e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931347202830178,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569866409998799,-1.6089528967872289,1.657868357687927,-1.6447518120966902,-1.570801181695318,0.0009292045465032539,0.0],"actuator_force":[0.007891181476679776,-20.054423752384082,-21.45979770750364,-2.368668740556245,0.0007080630209657102,4.4459798022034036e-05,-0.2939453278600094],"issued_joint_targets_rad":[-1.5698677793591669,-1.599082706689016,1.6683082716225077,-1.6399431208925144,-1.570802003150513,0.0009285673125981793],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.559999999999829,"joint_targets_rad":[-1.5698677793591669,-1.599082706689016,1.6683082716225077,-1.6399431208925144,-1.570802003150513,0.0009285673125981793],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.579999999999827,"qpos":[-1.5698551789544042,-1.5996172698166997,1.6537325044759608,-1.624434437261436,-1.5708081502765492,0.0009371650002239821,0.0029403452952735777,0.000156494357089328,0.0031995853694229276,-0.003436483021685815,0.002940322796050391,0.00015633312935880287,0.003203344048894048,-0.0034453049581606838,-0.13444194839637777,0.478946143210811,0.2998922445797836,1.0,1.319035621917758e-12,-1.9674362399918936e-11,-1.3375860098664141e-14],"qvel":[-7.76408921801573e-05,0.003486567547971477,0.07411779155034354,-0.07794037349894335,3.0803470315872764e-05,-4.342490835081194e-05,-1.458441784409332e-05,-1.1043897475834422e-06,-1.1210202964223491e-05,1.7973016182355242e-05,-1.4408401539681906e-05,4.451432597129022e-09,-6.991077768087071e-06,1.8753639185704675e-05,2.600054884029625e-11,1.7431668412620161e-12,6.3027581658871374e-15,-2.139963215160227e-11,3.1918816226223923e-10,-1.2139005043986513e-13],"joint_position_rad":[-1.5698551789544042,-1.5996172698166997,1.6537325044759608,-1.624434437261436,-1.5708081502765492,0.0009371650002239821],"joint_velocity_rad_s":[-7.76408921801573e-05,0.003486567547971477,0.07411779155034354,-0.07794037349894335,3.0803470315872764e-05,-4.342490835081194e-05],"linkage_position_rad":[0.0029403452952735777,0.000156494357089328,0.0031995853694229276,-0.003436483021685815,0.002940322796050391,0.00015633312935880287,0.003203344048894048,-0.0034453049581606838],"tcp_position_m":[-0.13444777950669282,0.4789305742095215,0.3107729966457574],"tcp_quaternion_wxyz":[0.00017302352946424004,0.7071053519075152,0.7071081701952873,-0.00016434621890299241],"object_position_m":[-0.13444194839637777,0.478946143210811,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.319035621917758e-12,-1.9674362399918936e-11,-1.3375860098664141e-14],"object_linear_velocity_m_s":[2.600054884029625e-11,1.7431668412620161e-12,6.3027581658871374e-15],"object_angular_velocity_rad_s":[-2.1399632151588954e-11,3.191881622622401e-10,-1.2139005043987225e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313472204490247,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698671827385091,-1.6089299305199272,1.6578536101861208,-1.6447680603360186,-1.5708005686034332,0.000928566248134385,0.0],"actuator_force":[0.007048788661904837,-20.019948425643634,-21.40490519981722,-2.3727741873968853,0.0007104895263410071,4.311479028268339e-05,-0.29388844046927953],"issued_joint_targets_rad":[-1.5698683531612145,-1.599064300299967,1.668296653549223,-1.639957447424265,-1.5708014532766172,0.0009279927894638419],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.579999999999827,"joint_targets_rad":[-1.5698683531612145,-1.599064300299967,1.668296653549223,-1.639957447424265,-1.5708014532766172,0.0009279927894638419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5999999999998247,"qpos":[-1.5698566062811878,-1.5995504411206016,1.6551374886063628,-1.6259151828478051,-1.5708075169796345,0.0009362884953855046,0.002940031226255224,0.00015647534469492256,0.003199331956953797,-0.0034361076170610423,0.0029400109720893763,0.00015633004303706606,0.0032031512815256695,-0.0034449173971321406,-0.13444194839577076,0.4789461432108517,0.2998922445797836,1.0,1.3674764500359988e-12,-2.0396988199952578e-11,-1.5643886593718778e-14],"qvel":[-7.200891758812753e-05,0.0031652327307258262,0.06691436661562537,-0.07057183877436382,3.037782136673165e-05,-4.189953953311107e-05,-1.65795772411914e-05,-9.798330996082362e-07,-1.3562861353468608e-05,1.9445802334644857e-05,-1.6428091824844402e-05,-1.6345714216992147e-08,-9.894267348054343e-06,2.013055490002459e-05,3.0078940349373273e-11,2.016583875257135e-12,6.301370387106355e-15,4.3162383587222733e-13,-6.447087209938917e-12,-2.2162800298128749e-13],"joint_position_rad":[-1.5698566062811878,-1.5995504411206016,1.6551374886063628,-1.6259151828478051,-1.5708075169796345,0.0009362884953855046],"joint_velocity_rad_s":[-7.200891758812753e-05,0.0031652327307258262,0.06691436661562537,-0.07057183877436382,3.037782136673165e-05,-4.189953953311107e-05],"linkage_position_rad":[0.002940031226255224,0.00015647534469492256,0.003199331956953797,-0.0034361076170610423,0.0029400109720893763,0.00015633004303706606,0.0032031512815256695,-0.0034449173971321406],"tcp_position_m":[-0.13444725701626573,0.478929811276953,0.31019862348286675],"tcp_quaternion_wxyz":[0.00016963847753841357,0.7071055474715852,0.7071079761272675,-0.00016141528874838996],"object_position_m":[-0.13444194839577076,0.4789461432108517,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3674764500359988e-12,-2.0396988199952578e-11,-1.5643886593718778e-14],"object_linear_velocity_m_s":[3.0078940349373273e-11,2.016583875257135e-12,6.301370387106355e-15],"object_angular_velocity_rad_s":[4.316238358810667e-13,-6.447087209938325e-12,-2.2162800298131232e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313473059586046,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698678666641492,-1.6089117880363293,1.6578426994120634,-1.6447825548280206,-1.5708000166341853,0.0009279918041264879,0.0],"actuator_force":[0.006282801112320158,-19.988786923745465,-21.355325034848647,-2.3765021126713464,0.0007123905879780068,4.160832380278867e-05,-0.2938370715718998],"issued_joint_targets_rad":[-1.569868869799168,-1.5990497703285003,1.6682881034781865,-1.6399702372929112,-1.570800958075567,0.0009274754037017535],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5999999999998247,"joint_targets_rad":[-1.569868869799168,-1.5990497703285003,1.6682881034781865,-1.6399702372929112,-1.570800958075567,0.0009274754037017535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6199999999998225,"qpos":[-1.56985793975217,-1.5994899438052272,1.6564061022354475,-1.6272559281965697,-1.5708068962748523,0.0009354461505146542,0.0029396859014576555,0.00015645824045994126,0.003199041430603964,-0.003435710086254668,0.002939667655300962,0.00015632721747963196,0.0032029151235192315,-0.0034445089363541333,-0.13444194839517945,0.4789461432108914,0.2998922445797836,1.0,1.3443668179955622e-12,-2.0052383234343286e-11,-1.801940086045944e-14],"qvel":[-6.6638599790494e-05,0.0028636784559156144,0.0604198775142208,-0.06389895869537703,2.9745425331822165e-05,-4.02581679286536e-05,-1.77641403227032e-05,-8.706096824083398e-07,-1.5064110436781309e-05,2.019382470177418e-05,-1.76334024599919e-05,-3.121120542778047e-08,-1.1865873475678383e-05,2.079582433462606e-05,3.592624213673949e-11,2.4085898438994528e-12,6.301370387106355e-15,3.543570453515217e-11,-5.285702111579975e-10,-4.0463568615317595e-13],"joint_position_rad":[-1.56985793975217,-1.5994899438052272,1.6564061022354475,-1.6272559281965697,-1.5708068962748523,0.0009354461505146542],"joint_velocity_rad_s":[-6.6638599790494e-05,0.0028636784559156144,0.0604198775142208,-0.06389895869537703,2.9745425331822165e-05,-4.02581679286536e-05],"linkage_position_rad":[0.0029396859014576555,0.00015645824045994126,0.003199041430603964,-0.003435710086254668,0.002939667655300962,0.00015632721747963196,0.0032029151235192315,-0.0034445089363541333],"tcp_position_m":[-0.1344467765763355,0.4789293755049697,0.3096803366076175],"tcp_quaternion_wxyz":[0.0001653018202986292,0.7071057221364241,0.7071078033672926,-0.00015752560380284244],"object_position_m":[-0.13444194839517945,0.4789461432108914,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3443668179955622e-12,-2.0052383234343286e-11,-1.801940086045944e-14],"object_linear_velocity_m_s":[3.592624213673949e-11,2.4085898438994528e-12,6.301370387106355e-15],"object_angular_velocity_rad_s":[3.543570453514935e-11,-5.285702111579976e-10,-4.046356861532198e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313474401574692,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569868473106748,-1.6088975215147099,1.657834805652709,-1.6447954957540594,-1.5707995193781283,0.0009274744893349143,0.0],"actuator_force":[0.00558873075988231,-19.960626801331728,-21.31054417116502,-2.3798879092071274,0.000713905828888528,3.998620299544564e-05,-0.2937906901240174],"issued_joint_targets_rad":[-1.569869335241007,-1.5990383569433517,1.6682819635687571,-1.6399816641560023,-1.570800511855025,0.0009270091968588527],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6199999999998225,"joint_targets_rad":[-1.569869335241007,-1.5990383569433517,1.6682819635687571,-1.6399816641560023,-1.570800511855025,0.0009270091968588527],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6399999999998203,"qpos":[-1.569859181559254,-1.5994353486772241,1.6575517338448842,-1.62846989174835,-1.5708062916736805,0.00093463962349175,0.0029393235289044296,0.00015644284712876632,0.0031987285659789344,-0.0034353031796098402,0.002939307080794389,0.00015632463802160116,0.003202651046256719,-0.0034440921962760013,-0.13444194839461784,0.4789461432109291,0.2998922445797836,1.0,1.2295398105969154e-12,-1.833959036696792e-11,-2.029004300695145e-14],"qvel":[-6.155558430847158e-05,0.002582885743350282,0.05456294039559405,-0.05785620447274069,2.895117835812027e-05,-3.853924836456304e-05,-1.8328091282982697e-05,-7.746265189887832e-07,-1.590916400762668e-05,2.0392332242171065e-05,-1.821494681277944e-05,-4.145679775349144e-08,-1.3113900872704974e-05,2.092270962864818e-05,4.524581592732779e-11,3.033476165813012e-12,6.295819271983228e-15,8.81523811182172e-11,-1.31478361417608e-09,-7.387633753865951e-13],"joint_position_rad":[-1.569859181559254,-1.5994353486772241,1.6575517338448842,-1.62846989174835,-1.5708062916736805,0.00093463962349175],"joint_velocity_rad_s":[-6.155558430847158e-05,0.002582885743350282,0.05456294039559405,-0.05785620447274069,2.895117835812027e-05,-3.853924836456304e-05],"linkage_position_rad":[0.0029393235289044296,0.00015644284712876632,0.0031987285659789344,-0.0034353031796098402,0.002939307080794389,0.00015632463802160116,0.003202651046256719,-0.0034440921962760013],"tcp_position_m":[-0.13444633617853846,0.47892920436055364,0.3092126629084674],"tcp_quaternion_wxyz":[0.0001602268599500532,0.7071058771974628,0.7071076504928697,-0.00015288758215356774],"object_position_m":[-0.13444194839461784,0.4789461432109291,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2295398105969154e-12,-1.833959036696792e-11,-2.029004300695145e-14],"object_linear_velocity_m_s":[4.524581592732779e-11,3.033476165813012e-12,6.295819271983228e-15],"object_angular_velocity_rad_s":[8.815238111819095e-11,-1.3147836141760817e-09,-7.387633753863955e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313476079873866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698690117811458,-1.6088863634750084,1.6578292724825519,-1.6448070596481954,-1.5707990711548026,0.0009270083466621976,0.0],"actuator_force":[0.004961789939443406,-19.9351838929083,-21.270098882902403,-2.3829635026487495,0.0007151416032229463,3.828642168013374e-05,-0.2937488152944621],"issued_joint_targets_rad":[-1.5698697547827924,-1.5990294444731243,1.6682777070882504,-1.639991881314965,-1.57080010956149,0.0009265888809165927],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6399999999998203,"joint_targets_rad":[-1.5698697547827924,-1.5990294444731243,1.6682777070882504,-1.639991881314965,-1.57080010956149,0.0009265888809165927],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.659999999999818,"qpos":[-1.569860334921003,-1.5993862188879446,1.6585864297452138,-1.6295690467156476,-1.5708057058721907,0.0009338699035813357,0.002938954920282876,0.00015642898882780313,0.00319840468658914,-0.0034348964955120266,0.002938940083905938,0.0001563222890779103,0.003202370984062484,-0.003443676660238162,-0.1344419483940398,0.47894614321096785,0.2998922445797836,1.0,1.169470206380795e-12,-1.744333724310947e-11,-2.3092348523976035e-14],"qvel":[-5.6773285208959755e-05,0.0023231291536342344,0.049279652073770615,-0.05238419951993096,2.80329800462508e-05,-3.677447549566038e-05,-1.842292326011433e-05,-6.901066645527465e-07,-1.6253967690930057e-05,2.0180686759518045e-05,-1.8324737346790175e-05,-4.813000194389436e-08,-1.3804910844279468e-05,2.0648911797460735e-05,2.1382359423309394e-11,1.4335557486323065e-12,6.2972070507640096e-15,-4.5831528337126126e-11,6.836138699718345e-10,-8.003903015089436e-14],"joint_position_rad":[-1.569860334921003,-1.5993862188879446,1.6585864297452138,-1.6295690467156476,-1.5708057058721907,0.0009338699035813357],"joint_velocity_rad_s":[-5.6773285208959755e-05,0.0023231291536342344,0.049279652073770615,-0.05238419951993096,2.80329800462508e-05,-3.677447549566038e-05],"linkage_position_rad":[0.002938954920282876,0.00015642898882780313,0.00319840468658914,-0.0034348964955120266,0.002938940083905938,0.0001563222890779103,0.003202370984062484,-0.003443676660238162],"tcp_position_m":[-0.13444593354131434,0.47892924553929744,0.30879066258980564],"tcp_quaternion_wxyz":[0.0001545950119101596,0.7071060140869726,0.7071075159640979,-0.00014768039331176247],"object_position_m":[-0.1344419483940398,0.47894614321096785,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.169470206380795e-12,-1.744333724310947e-11,-2.3092348523976035e-14],"object_linear_velocity_m_s":[2.1382359423309394e-11,1.4335557486323065e-12,6.2972070507640096e-15],"object_angular_velocity_rad_s":[-4.583152833709176e-11,6.836138699718367e-10,-8.003903015087187e-14],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313477977196771,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698694910399351,-1.6088776930510833,1.657825575125274,-1.6448174020638575,-1.5707986669198495,0.0009265880891640532,0.0],"actuator_force":[0.004397076218992879,-19.912199987731128,-21.23357006938795,-2.3857577221118618,0.0007161781659306143,3.654034092481773e-05,-0.29371101190640614],"issued_joint_targets_rad":[-1.5698701331327727,-1.599022534503893,1.6682749130329233,-1.6400010240309832,-1.570799746700487,0.0009262097544427335],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.659999999999818,"joint_targets_rad":[-1.5698701331327727,-1.599022534503893,1.6682749130329233,-1.6400010240309832,-1.570799746700487,0.0009262097544427335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.679999999999816,"qpos":[-1.5698614037492165,-1.599342121221471,1.6595210336644857,-1.6305642379749399,-1.570805140880709,0.0009331374320744676,0.0029385881842698856,0.00015641650858261473,0.003198078362904573,-0.003434497131457462,0.002938574794013399,0.00015632015471181307,0.003202084044882397,-0.003443269323652858,-0.1344419483934218,0.4789461432110093,0.2998922445797836,1.0,1.24123601967064e-12,-1.8513743758007622e-11,-2.7133053998450598e-14],"qvel":[-5.22959477615094e-05,0.0020841651894082567,0.04451275364914916,-0.047429144013113635,2.7022721406683695e-05,-3.4989816000812364e-05,-1.8168982897436035e-05,-6.155373895148682e-07,-1.6222677907632822e-05,1.9669238159290362e-05,-1.8083549935852315e-05,-5.206516719895362e-08,-1.4071885880730983e-05,2.008338830439996e-05,2.318075802053471e-11,1.5541285922477523e-12,6.298594829544792e-15,-3.787658423499171e-11,5.649511814589798e-10,-1.4613176959016374e-13],"joint_position_rad":[-1.5698614037492165,-1.599342121221471,1.6595210336644857,-1.6305642379749399,-1.570805140880709,0.0009331374320744676],"joint_velocity_rad_s":[-5.22959477615094e-05,0.0020841651894082567,0.04451275364914916,-0.047429144013113635,2.7022721406683695e-05,-3.4989816000812364e-05],"linkage_position_rad":[0.0029385881842698856,0.00015641650858261473,0.003198078362904573,-0.003434497131457462,0.002938574794013399,0.00015632015471181307,0.003202084044882397,-0.003443269323652858],"tcp_position_m":[-0.13444556623484016,0.47892945534937026,0.3084098773540484],"tcp_quaternion_wxyz":[0.00014855988822451652,0.7071061342985357,0.7071073981987811,-0.0001420559417374343],"object_position_m":[-0.1344419483934218,0.4789461432110093,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.24123601967064e-12,-1.8513743758007622e-11,-2.7133053998450598e-14],"object_linear_velocity_m_s":[2.318075802053471e-11,1.5541285922477523e-12,6.298594829544792e-15],"object_angular_velocity_rad_s":[-3.7876584234955646e-11,5.649511814589823e-10,-1.4613176959016298e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313480002947794,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698699180845963,-1.6088710085069244,1.6578232948944547,-1.6448266600276162,-1.570798302185635,0.0009262090162604329,0.0],"actuator_force":[0.0038897083445590397,-19.891440646670162,-21.20057899972153,-2.3882966250267827,0.0007170753963237075,3.477369306387201e-05,-0.29367688624999777],"issued_joint_targets_rad":[-1.5698704744835772,-1.5990172239504181,1.6682732456150322,-1.6400092116382667,-1.5707994192680963,0.0009258676305950446],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.679999999999816,"joint_targets_rad":[-1.5698704744835772,-1.5990172239504181,1.6682732456150322,-1.6400092116382667,-1.5707994192680963,0.0009258676305950446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6999999999998137,"qpos":[-1.569862392392295,-1.599302634206374,1.6603653109154946,-1.6314652880370297,-1.570804598134986,0.0009324422044236059,0.00293822928704701,0.00015640526614932112,0.003197755977936974,-0.0034341102097630006,0.0029382171954630263,0.0001563182190531592,0.0032017970857146287,-0.003442875218100726,-0.13444194839281937,0.4789461432110497,0.2998922445797836,1.0,1.2908197345949243e-12,-1.9253371607909823e-11,-3.1678785762059856e-14],"qvel":[-4.8121055551569525e-05,0.0018653796986828897,0.04021089676733729,-0.04294229328886308,2.594713561237172e-05,-3.32063875681321e-05,-1.766145296286198e-05,-5.496273516141079e-07,-1.5913752439223384e-05,1.894492319311095e-05,-1.7586922607142462e-05,-5.392466125073476e-08,-1.402063464278594e-05,1.9311907956088784e-05,2.54535119097281e-11,1.7064996389696348e-12,6.294431493202447e-15,-2.3984278214505325e-11,3.5773788936927453e-10,-2.6679872160977426e-13],"joint_position_rad":[-1.569862392392295,-1.599302634206374,1.6603653109154946,-1.6314652880370297,-1.570804598134986,0.0009324422044236059],"joint_velocity_rad_s":[-4.8121055551569525e-05,0.0018653796986828897,0.04021089676733729,-0.04294229328886308,2.594713561237172e-05,-3.32063875681321e-05],"linkage_position_rad":[0.00293822928704701,0.00015640526614932112,0.003197755977936974,-0.0034341102097630006,0.0029382171954630263,0.0001563182190531592,0.0032017970857146287,-0.003442875218100726],"tcp_position_m":[-0.1344452317741728,0.47892979735391655,0.3080662835907112],"tcp_quaternion_wxyz":[0.0001422509060647704,0.7071062393316616,0.7071072956264581,-0.00013614238952206135],"object_position_m":[-0.13444194839281937,0.4789461432110497,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2908197345949243e-12,-1.9253371607909823e-11,-3.1678785762059856e-14],"object_linear_velocity_m_s":[2.54535119097281e-11,1.7064996389696348e-12,6.294431493202447e-15],"object_angular_velocity_rad_s":[-2.3984278214472383e-11,3.577378893692767e-10,-2.6679872160978047e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313482087868005,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698702991413878,-1.608865904848613,1.6578220985416732,-1.6448349542608025,-1.5707979729531503,0.0009258669417864494,0.0],"actuator_force":[0.0034349240354458743,-19.87269316395077,-21.17078345457776,-2.390603783000074,0.0007178773565783558,3.300743823497765e-05,-0.29364608224765176],"issued_joint_targets_rad":[-1.5698707825629972,-1.5990131991897036,1.6682724494534853,-1.6400165504695212,-1.5707991236835577,0.0009255587957337128],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6999999999998137,"joint_targets_rad":[-1.5698707825629972,-1.5990131991897036,1.6682724494534853,-1.6400165504695212,-1.5707991236835577,0.0009255587957337128],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7199999999998115,"qpos":[-1.5698633054973847,-1.5992673547039007,1.66112806009795,-1.6322810932423242,-1.5708040785908326,0.0009317838585054147,0.002937882504677613,0.00015639513602429907,0.0031974421851300775,-0.003433739301578148,0.0029378715805221537,0.00015631646729006695,0.00320151518167228,-0.0034424978342204302,-0.13444194839223528,0.47894614321108886,0.2998922445797836,1.0,1.30579867944519e-12,-1.9476982881419494e-11,-3.666359191337135e-14],"qvel":[-4.4241142553357775e-05,0.0016658478787496419,0.03632805309607314,-0.038879488778657524,2.4828463560816493e-05,-3.14411124598303e-05,-1.697513683235909e-05,-4.911906645074282e-07,-1.540497714233744e-05,1.807561204476434e-05,-1.6909986013556587e-05,-5.431808959510125e-08,-1.373569144717314e-05,1.8401261681491226e-05,2.8707903800931598e-11,1.9246659787133138e-12,6.291655935640885e-15,-1.8109465762440036e-12,2.6993022658528966e-11,-4.871073536510038e-13],"joint_position_rad":[-1.5698633054973847,-1.5992673547039007,1.66112806009795,-1.6322810932423242,-1.5708040785908326,0.0009317838585054147],"joint_velocity_rad_s":[-4.4241142553357775e-05,0.0016658478787496419,0.03632805309607314,-0.038879488778657524,2.4828463560816493e-05,-3.14411124598303e-05],"linkage_position_rad":[0.002937882504677613,0.00015639513602429907,0.0031974421851300775,-0.003433739301578148,0.0029378715805221537,0.00015631646729006695,0.00320151518167228,-0.0034424978342204302],"tcp_position_m":[-0.13444492765956262,0.4789302408261444,0.3077562500233818],"tcp_quaternion_wxyz":[0.00013577647755357253,0.7071063306732553,0.7071072067050789,-0.00013004727297305827],"object_position_m":[-0.13444194839223528,0.47894614321108886,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.30579867944519e-12,-1.9476982881419494e-11,-3.666359191337135e-14],"object_linear_velocity_m_s":[2.8707903800931598e-11,1.9246659787133138e-12,6.291655935640885e-15],"object_angular_velocity_rad_s":[-1.8109465762230497e-12,2.699302265853037e-11,-4.871073536510525e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484179664243,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569870639596755,-1.6088620675777152,1.6578217333411014,-1.6448423921899413,-1.5707976756449316,0.0009255581526422933,0.0],"actuator_force":[0.0030282582811196335,-19.855764899128644,-21.14387475212652,-2.3927005959428698,0.0007186265944483239,3.125831442229998e-05,-0.29361827864575873],"issued_joint_targets_rad":[-1.569871060729151,-1.5990101851655971,1.6682723006092115,-1.6400231328229962,-1.5707988567660394,0.0009252798862415422],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.7199999999998115,"joint_targets_rad":[-1.569871060729151,-1.5990101851655971,1.6682723006092115,-1.6400231328229962,-1.5707988567660394,0.0009252798862415422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7399999999998093,"qpos":[-1.5698641476790405,-1.599235899826885,1.6618172094762906,-1.6330197105646633,-1.5708035828074611,0.0009311617429386581,0.0029375507880964385,0.00015638600630231187,0.0031971402731000038,-0.0034333867671736285,0.0029375409137122033,0.00015631488302051173,0.0032012419857679534,-0.0034421394598985254,-0.1344419483916745,0.47894614321112644,0.2998922445797836,1.0,1.26830407991259e-12,-1.8917995680441457e-11,-4.1884641806562885e-14],"qvel":[-4.064499814181683e-05,0.0014845915647912849,0.03282277446866903,-0.03520071925977999,2.3685385376614885e-05,-2.9707687922362624e-05,-1.616876348266683e-05,-4.394476094795099e-07,-1.4757231078908032e-05,1.7114694502126882e-05,-1.6111648905642997e-05,-5.349758466040099e-08,-1.3281846131250147e-05,1.7404210975049694e-05,3.383046868978489e-11,2.2680462003063275e-12,6.291655935640886e-15,3.188818507308812e-11,-4.756944847718019e-10,-8.893331795458081e-13],"joint_position_rad":[-1.5698641476790405,-1.599235899826885,1.6618172094762906,-1.6330197105646633,-1.5708035828074611,0.0009311617429386581],"joint_velocity_rad_s":[-4.064499814181683e-05,0.0014845915647912849,0.03282277446866903,-0.03520071925977999,2.3685385376614885e-05,-2.9707687922362624e-05],"linkage_position_rad":[0.0029375507880964385,0.00015638600630231187,0.0031971402731000038,-0.0034333867671736285,0.0029375409137122033,0.00015631488302051173,0.0032012419857679534,-0.0034421394598985254],"tcp_position_m":[-0.13444465151366067,0.4789307605923396,0.30747649974626745],"tcp_quaternion_wxyz":[0.00012922674838693787,0.70710640970354,0.7071071300130363,-0.00012386017688100376],"object_position_m":[-0.1344419483916745,0.47894614321112644,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.26830407991259e-12,-1.8917995680441457e-11,-4.1884641806562885e-14],"object_linear_velocity_m_s":[3.383046868978489e-11,2.2680462003063275e-12,6.291655935640886e-15],"object_angular_velocity_rad_s":[3.188818507308192e-11,-4.756944847718023e-10,-8.893331795459376e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348623965077,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698709441616083,-1.608859221547874,1.6578219780447123,-1.644849066980916,-1.5707974070821116,0.0009252792856435132,0.0],"actuator_force":[0.0026650341210370243,-19.840480067894987,-21.119572650624377,-2.394606282148402,0.0007193241372078774,2.9540144663831036e-05,-0.2935931830284905],"issued_joint_targets_rad":[-1.5698713119619159,-1.599007965254779,1.6682726266654337,-1.6400290402819504,-1.5707986156617242,0.0009250279226141837],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.7399999999998093,"joint_targets_rad":[-1.5698713119619159,-1.599007965254779,1.6682726266654337,-1.6400290402819504,-1.5707986156617242,0.0009250279226141837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.759999999999807,"qpos":[-1.569864923578186,-1.5992079094662675,1.6624399057827415,-1.6336884366759048,-1.5708031110152774,0.0009305749814805404,0.0029372360544229,0.00015637777617541493,0.0031968524667933557,-0.0034330540283923684,0.0029372271247697034,0.0001563134524629306,0.003200980054451224,-0.00344180145266202,-0.13444194839111637,0.4789461432111639,0.2998922445797836,1.0,1.2328444978561728e-12,-1.8389224932410483e-11,-4.7828924122818267e-14],"qvel":[-3.732007622972881e-05,0.001320496808602789,0.02965784781131488,-0.03186973740010662,2.2533104237024505e-05,-2.8016733969540667e-05,-1.528772207051594e-05,-3.935213115036068e-07,-1.401810470939477e-05,1.6102760629992388e-05,-1.5237520032648884e-05,-5.1812928365295425e-08,-1.2711305508858103e-05,1.6360570007078693e-05,4.256051684086953e-11,2.8533444068298923e-12,6.2985948295447945e-15,8.073420712402548e-11,-1.2042204397280978e-09,-1.6236932569665004e-12],"joint_position_rad":[-1.569864923578186,-1.5992079094662675,1.6624399057827415,-1.6336884366759048,-1.5708031110152774,0.0009305749814805404],"joint_velocity_rad_s":[-3.732007622972881e-05,0.001320496808602789,0.02965784781131488,-0.03186973740010662,2.2533104237024505e-05,-2.8016733969540667e-05],"linkage_position_rad":[0.0029372360544229,0.00015637777617541493,0.0031968524667933557,-0.0034330540283923684,0.0029372271247697034,0.0001563134524629306,0.003200980054451224,-0.00344180145266202],"tcp_position_m":[-0.13444440103496366,0.4789313360444867,0.30722407553254283],"tcp_quaternion_wxyz":[0.00012267617409074242,0.7071064777385575,0.7071070642045426,-0.00011765525783688975],"object_position_m":[-0.13444194839111637,0.4789461432111639,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2328444978561728e-12,-1.8389224932410483e-11,-4.7828924122818267e-14],"object_linear_velocity_m_s":[4.256051684086953e-11,2.8533444068298923e-12,6.2985948295447945e-15],"object_angular_velocity_rad_s":[8.073420712396999e-11,-1.2042204397281015e-09,-1.6236932569664545e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488239696734,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698712169190414,-1.6088571506083993,1.6578226629034194,-1.6448550609094394,-1.5707971644117293,0.0009250273616343008,0.0],"actuator_force":[0.00234134878110126,-19.826681007704792,-21.097624883170283,-2.3963383767567166,0.0007199913503654898,2.786347383426646e-05,-0.2935705327491144],"issued_joint_targets_rad":[-1.5698715389363795,-1.5990063705791762,1.6682732970785965,-1.6400343454779123,-1.5707983978108255,0.0009248002332817619],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.759999999999807,"joint_targets_rad":[-1.5698715389363795,-1.5990063705791762,1.6682732970785965,-1.6400343454779123,-1.5707983978108255,0.0009248002332817619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.779999999999805,"qpos":[-1.569865637777832,-1.599183048110847,1.6630025936462725,-1.634293879530104,-1.570802663176356,0.0009300225244407265,0.002936939423390586,0.0001563703554697006,0.0031965801640365323,-0.003432741789753214,0.0029369313445782477,0.00015631216270030264,0.003200731079907073,-0.0034414844596509253,-0.13444194839056098,0.47894614321120105,0.2998922445797836,1.0,1.1483917484881926e-12,-1.71294532402738e-11,-5.39879786815245e-14],"qvel":[-3.425211038034532e-05,0.001172368852316277,0.026799840887252676,-0.028853710226239643,2.138406742039954e-05,-2.6376440006673217e-05,-1.4366896045858295e-05,-3.526663980310106e-07,-1.3224434762216953e-05,1.5070785791416315e-05,-1.4322671117875907e-05,-4.956882685117389e-08,-1.2064860131152307e-05,1.5300673776703937e-05,2.0861128924006628e-11,1.3985704994166216e-12,6.297207050764013e-15,-4.586143665583411e-11,6.840727829023218e-10,-1.7591370385051782e-13],"joint_position_rad":[-1.569865637777832,-1.599183048110847,1.6630025936462725,-1.634293879530104,-1.570802663176356,0.0009300225244407265],"joint_velocity_rad_s":[-3.425211038034532e-05,0.001172368852316277,0.026799840887252676,-0.028853710226239643,2.138406742039954e-05,-2.6376440006673217e-05],"linkage_position_rad":[0.002936939423390586,0.0001563703554697006,0.0031965801640365323,-0.003432741789753214,0.0029369313445782477,0.00015631216270030264,0.003200731079907073,-0.0034414844596509253],"tcp_position_m":[-0.1344441740217939,0.4789319501852811,0.30699630869039324],"tcp_quaternion_wxyz":[0.00011618567364178192,0.7071065360175153,0.7071070080203075,-0.00011149335090706039],"object_position_m":[-0.13444194839056098,0.47894614321120105,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1483917484881926e-12,-1.71294532402738e-11,-5.39879786815245e-14],"object_linear_velocity_m_s":[2.0861128924006628e-11,1.3985704994166216e-12,6.297207050764013e-15],"object_angular_velocity_rad_s":[-4.5861436655754215e-11,6.840727829023271e-10,-1.759137038505134e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490160060066,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698714614438354,-1.608855686732199,1.6578236599748564,-1.6448604471649664,-1.5707969450739498,0.0009247997093277647,0.0],"actuator_force":[0.0020535121452667227,-19.81422478363038,-21.077803697733543,-2.397912794807212,0.0007206444611256302,2.623644418642268e-05,-0.29355009056262305],"issued_joint_targets_rad":[-1.5698717440482042,-1.599005265800248,1.668274209881064,-1.6400391127601275,-1.5707982009202217,0.0009245944257526006],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.779999999999805,"joint_targets_rad":[-1.5698717440482042,-1.599005265800248,1.668274209881064,-1.6400391127601275,-1.5707982009202217,0.0009245944257526006],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7999999999998026,"qpos":[-1.5698662947085635,-1.5991610052825567,1.6635110860888322,-1.6348420231910925,-1.5708022390353569,0.0009295031921663349,0.0029366614051201654,0.00015636366340267328,0.0031963241255887594,-0.0034324502119523954,0.0029366540930173602,0.0001563110012053521,0.00320049608305158,-0.00344118859017788,-0.13444194838992904,0.47894614321124346,0.2998922445797836,1.0,1.2493866661236576e-12,-1.863628988649974e-11,-6.398521572382914e-14],"qvel":[-3.142574653184501e-05,0.001039002114897312,0.02421867650627647,-0.02612289729911977,2.024840307403919e-05,-2.4792930528998418e-05,-1.3432831646475176e-05,-3.1627660213198905e-07,-1.240440631385814e-05,1.4042138069564606e-05,-1.339379069683057e-05,-4.696767574359119e-08,-1.1373748214956403e-05,1.4247388606545371e-05,2.3083928374908574e-11,1.5475606051257512e-12,6.301370387106357e-15,-4.0276358274220894e-11,6.007613988628351e-10,-3.2117399250915306e-13],"joint_position_rad":[-1.5698662947085635,-1.5991610052825567,1.6635110860888322,-1.6348420231910925,-1.5708022390353569,0.0009295031921663349],"joint_velocity_rad_s":[-3.142574653184501e-05,0.001039002114897312,0.02421867650627647,-0.02612289729911977,2.024840307403919e-05,-2.4792930528998418e-05],"linkage_position_rad":[0.0029366614051201654,0.00015636366340267328,0.0031963241255887594,-0.0034324502119523954,0.0029366540930173602,0.0001563110012053521,0.00320049608305158,-0.00344118859017788],"tcp_position_m":[-0.13444396840396486,0.47893258902606606,0.30679079099354956],"tcp_quaternion_wxyz":[0.0001098044995328411,0.7071065856838138,0.7071069603047143,-0.00010542380008707317],"object_position_m":[-0.13444194838992904,0.47894614321124346,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2493866661236576e-12,-1.863628988649974e-11,-6.398521572382914e-14],"object_linear_velocity_m_s":[2.3083928374908574e-11,1.5475606051257512e-12,6.301370387106357e-15],"object_angular_velocity_rad_s":[-4.027635827413204e-11,6.007613988628411e-10,-3.2117399250919027e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349198756756,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698716808653455,-1.6088546956767498,1.6578248697955573,-1.6448652905518513,-1.5707967467748696,0.0009245939364643813,0.0],"actuator_force":[0.0017979850490519311,-19.802981634345088,-21.05990318906015,-2.3993439504674825,0.0007212899362230019,2.4665201923124158e-05,-0.2935316417951598],"issued_joint_targets_rad":[-1.5698719294466732,-1.599004542354477,1.6682752856001277,-1.6400433991692358,-1.5707980229321512,0.0009244083532491391],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.7999999999998026,"joint_targets_rad":[-1.5698719294466732,-1.599004542354477,1.6682752856001277,-1.6400433991692358,-1.5707980229321512,0.0009244083532491391],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8199999999998004,"qpos":[-1.5698668986065138,-1.5991414952154404,1.6639706276200916,-1.635338286598368,-1.5708018381624307,0.0009290157111916299,0.0029364020494829107,0.0001563576274470233,0.0031960846277341447,-0.0034321790502174435,0.002936395428619229,0.00015630995625130114,0.0032002755719020026,-0.0034409135534323116,-0.1344419483893063,0.4789461432112852,0.2998922445797836,1.0,1.3191700289993017e-12,-1.967745112743369e-11,-7.528289845971646e-14],"qvel":[-2.8825363062708843e-05,0.0009192107706810906,0.021887281632645566,-0.023650360246144784,1.9134227918752512e-05,-2.327061562968715e-05,-1.2505408066878793e-05,-2.838259988432124e-07,-1.157932613803643e-05,1.3034046639159199e-05,-1.2470875069782146e-05,-4.415642978967237e-08,-1.06618193440973e-05,1.321751586594328e-05,2.5523511578591406e-11,1.711088885727269e-12,6.299982608325575e-15,-2.8392611859507968e-11,4.2350563072993094e-10,-5.863834849126062e-13],"joint_position_rad":[-1.5698668986065138,-1.5991414952154404,1.6639706276200916,-1.635338286598368,-1.5708018381624307,0.0009290157111916299],"joint_velocity_rad_s":[-2.8825363062708843e-05,0.0009192107706810906,0.021887281632645566,-0.023650360246144784,1.9134227918752512e-05,-2.327061562968715e-05],"linkage_position_rad":[0.0029364020494829107,0.0001563576274470233,0.0031960846277341447,-0.0034321790502174435,0.002936395428619229,0.00015630995625130114,0.0032002755719020026,-0.0034409135534323116],"tcp_position_m":[-0.1344437822514844,0.47893324112004354,0.306605349300926],"tcp_quaternion_wxyz":[0.00010357189849745908,0.707106627782133,0.7071069200071229,-9.948608550811131e-05],"object_position_m":[-0.1344419483893063,0.4789461432112852,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3191700289993017e-12,-1.967745112743369e-11,-7.528289845971646e-14],"object_linear_velocity_m_s":[2.5523511578591406e-11,1.711088885727269e-12,6.299982608325575e-15],"object_angular_velocity_rad_s":[-2.8392611859421127e-11,4.235056307299368e-10,-5.863834849126427e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313493714120277,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569871877931148,-1.608854070121398,1.6578262152794077,-1.644869648487374,-1.5707965674553561,0.0009244078964593524,0.0],"actuator_force":[0.001571495956795843,-19.792834120188218,-21.043737334425714,-2.400644919888464,0.0007219307453851798,2.3154196829910934e-05,-0.29351499248942375],"issued_joint_targets_rad":[-1.5698720970619098,-1.59900411333866,1.6682764627241362,-1.6400472553185865,-1.5707978619983085,0.0009242400875485594],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.8199999999998004,"joint_targets_rad":[-1.5698720970619098,-1.59900411333866,1.6682764627241362,-1.6400472553185865,-1.5707978619983085,0.0009242400875485594],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8399999999997982,"qpos":[-1.5698674534896784,-1.5991242560961203,1.664385950812798,-1.6357875768191437,-1.5708014599898892,0.0009285587442963062,0.002936161064934005,0.00015635218246516216,0.0031958615835368702,-0.0034319277641865565,0.0029361550675477245,0.0001563090169835324,0.0032000696664074403,-0.003440658767776533,-0.13444194838869816,0.478946143211326,0.2998922445797836,1.0,1.35092735449895e-12,-2.0151422312679383e-11,-8.776853252105002e-14],"qvel":[-2.6435470270958595e-05,0.0008118481739256598,0.01978127704651055,-0.021411699689192737,1.8047944324622556e-05,-2.1812479830356513e-05,-1.1599216983904714e-05,-2.548566234740159e-07,-1.0765043625683247e-05,1.2058897153125404e-05,-1.156861411989017e-05,-4.124579968614477e-08,-9.947073202274591e-06,1.2223074744006148e-05,2.8706292903165742e-11,1.924435061441237e-12,6.295819271983229e-15,-8.209092312251958e-12,1.2243338595476169e-10,-1.0705896440446415e-12],"joint_position_rad":[-1.5698674534896784,-1.5991242560961203,1.664385950812798,-1.6357875768191437,-1.5708014599898892,0.0009285587442963062],"joint_velocity_rad_s":[-2.6435470270958595e-05,0.0008118481739256598,0.01978127704651055,-0.021411699689192737,1.8047944324622556e-05,-2.1812479830356513e-05],"linkage_position_rad":[0.002936161064934005,0.00015635218246516216,0.0031958615835368702,-0.0034319277641865565,0.0029361550675477245,0.0001563090169835324,0.0032000696664074403,-0.003440658767776533],"tcp_position_m":[-0.13444361377614003,0.4789338971677381,0.30643802263581477],"tcp_quaternion_wxyz":[9.751856934782257e-05,0.7071066632599672,0.7071068861789453,-9.371125257619661e-05],"object_position_m":[-0.13444194838869816,0.478946143211326,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.35092735449895e-12,-2.0151422312679383e-11,-8.776853252105002e-14],"object_linear_velocity_m_s":[2.8706292903165742e-11,1.924435061441237e-12,6.295819271983229e-15],"object_angular_velocity_rad_s":[-8.209092312187318e-12,1.2243338595476603e-10,-1.070589644044694e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313495335513242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698720550592336,-1.608853724479293,1.6578276371708731,-1.6448735719017684,-1.5707964052652663,0.0009242396612521396,0.0],"actuator_force":[0.0013710489979530394,-19.78367603591596,-21.029138102454,-2.401827572393131,0.0007225678790518941,2.1706460952342077e-05,-0.2934999674685675],"issued_joint_targets_rad":[-1.5698722486286392,-1.5990039093797617,1.6682776940730812,-1.6400507261677268,-1.5707977164571896,0.0009240878953096276],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.8399999999997982,"joint_targets_rad":[-1.5698722486286392,-1.5990039093797617,1.6682776940730812,-1.6400507261677268,-1.5707977164571896,0.0009240878953096276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.859999999999796,"qpos":[-1.5698679631449874,-1.5991090490144997,1.664761327072841,-1.636194337300897,-1.5708011038432874,0.0009281309153997134,0.0029359379124685855,0.00015634726992844766,0.0031956546389017336,-0.0034316956043304488,0.0029359324776697263,0.00015630817340290095,0.0031998781974234645,-0.0034404234466353214,-0.1344419483881108,0.4789461432113653,0.2998922445797836,1.0,1.3305179350905484e-12,-1.9847132241899338e-11,-1.010343485712324e-13],"qvel":[-2.4240967580904384e-05,0.0007158199225673424,0.017878700980549604,-0.01938481677287212,1.6994501666670353e-05,-2.0420327300366213e-05,-1.072468063872053e-05,-2.2896888214179473e-07,-9.973092278569135e-06,1.112527435726526e-05,-1.069751270262719e-05,-3.8318596352901935e-08,-9.242868758902242e-06,1.1272336972410453e-05,3.3486855865874835e-11,2.244901583760404e-12,6.294431493202447e-15,2.320726484307394e-11,-3.461923286901084e-10,-1.954624177110518e-12],"joint_position_rad":[-1.5698679631449874,-1.5991090490144997,1.664761327072841,-1.636194337300897,-1.5708011038432874,0.0009281309153997134],"joint_velocity_rad_s":[-2.4240967580904384e-05,0.0007158199225673424,0.017878700980549604,-0.01938481677287212,1.6994501666670353e-05,-2.0420327300366213e-05],"linkage_position_rad":[0.0029359379124685855,0.00015634726992844766,0.0031956546389017336,-0.0034316956043304488,0.0029359324776697263,0.00015630817340290095,0.0031998781974234645,-0.0034404234466353214],"tcp_position_m":[-0.13444346132941726,0.47893454968069116,0.30628704149368235],"tcp_quaternion_wxyz":[9.166793621283354e-05,0.7071066929712473,0.7071068579688389,-8.812316082846678e-05],"object_position_m":[-0.1344419483881108,0.4789461432113653,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3305179350905484e-12,-1.9847132241899338e-11,-1.010343485712324e-13],"object_linear_velocity_m_s":[3.3486855865874835e-11,2.244901583760404e-12,6.294431493202447e-15],"object_angular_velocity_rad_s":[2.320726484308157e-11,-3.4619232869010786e-10,-1.9546241771105525e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313496850495176,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569872214382139,-1.6088535907130794,1.657829090408539,-1.6448771060260419,-1.5707962585408972,0.0009240874976402173,0.0],"actuator_force":[0.0011939127289224416,-19.77541136618629,-21.015953720823745,-2.402902685285312,0.0007232010283360069,2.032385028860606e-05,-0.29348640854020885],"issued_joint_targets_rad":[-1.5698723857071115,-1.5990038752769358,1.6682789438721224,-1.640053851698588,-1.5707975848141305,0.0009239502172262192],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.859999999999796,"joint_targets_rad":[-1.5698723857071115,-1.5990038752769358,1.6682789438721224,-1.640053851698588,-1.5707975848141305,0.0009239502172262192],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.879999999999794,"qpos":[-1.5698684311231188,-1.5990956567267198,1.6651006122308671,-1.6365625915911401,-1.5708007689676657,0.0009277308300592039,0.0029357318794914584,0.00015634283722231002,0.003195463248341295,-0.003431481679561994,0.0029357269525241273,0.00015630741633103606,0.003199700784994649,-0.003440206665657527,-0.13444194838755338,0.4789461432114026,0.2998922445797836,1.0,1.2354832176713762e-12,-1.842965079275029e-11,-1.140990309464253e-13],"qvel":[-2.2227319656003607e-05,0.0006300922643680031,0.016159762593657045,-0.017549696972288586,1.5977622304132026e-05,-1.9094990620072873e-05,-9.888952987833823e-06,-2.058133502863653e-07,-9.211610185688083e-06,1.0238800402362904e-05,-9.864794434324134e-06,-3.543575995054999e-08,-8.558898218352336e-06,1.0370654396141417e-05,4.127746272032014e-11,2.76711790647388e-12,6.290268156860102e-15,7.003163858495658e-11,-1.0447033746894956e-09,-3.56865198545678e-12],"joint_position_rad":[-1.5698684311231188,-1.5990956567267198,1.6651006122308671,-1.6365625915911401,-1.5708007689676657,0.0009277308300592039],"joint_velocity_rad_s":[-2.2227319656003607e-05,0.0006300922643680031,0.016159762593657045,-0.017549696972288586,1.5977622304132026e-05,-1.9094990620072873e-05],"linkage_position_rad":[0.0029357318794914584,0.00015634283722231002,0.003195463248341295,-0.003431481679561994,0.0029357269525241273,0.00015630741633103606,0.003199700784994649,-0.003440206665657527],"tcp_position_m":[-0.134443323397998,0.4789351926946872,0.30615080916369175],"tcp_quaternion_wxyz":[8.603725800785372e-05,0.7071067176812434,0.7071068346168147,-8.27395727651259e-05],"object_position_m":[-0.13444194838755338,0.4789461432114026,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2354832176713762e-12,-1.842965079275029e-11,-1.140990309464253e-13],"object_linear_velocity_m_s":[4.127746272032014e-11,2.76711790647388e-12,6.290268156860102e-15],"object_angular_velocity_rad_s":[7.003163858484972e-11,-1.0447033746895026e-09,-3.56865198545689e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313498260021047,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698723577844882,-1.6088536149377346,1.6578305411960068,-1.644880291079079,-1.5707961257851115,0.0009239498464379403,0.0],"actuator_force":[0.001037605123656249,-19.767953327776468,-21.004047107183396,-2.4038800467405963,0.0007238290467057595,1.9007251375491307e-05,-0.2934741728636685],"issued_joint_targets_rad":[-1.5698725097015929,-1.5990039672706011,1.6682801853920401,-1.640056667506198,-1.5707974657236614,0.0009238256496035406],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.879999999999794,"joint_targets_rad":[-1.5698725097015929,-1.5990039672706011,1.6682801853920401,-1.640056667506198,-1.5707974657236614,0.0009238256496035406],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8999999999997916,"qpos":[-1.569868860739022,-1.5990838823069813,1.665407287509107,-1.6368959829477994,-1.570800454549619,0.0009273570922276873,0.0029355421375230504,0.00015633883702789348,0.0031952867343922955,-0.0034312850097447146,0.0029355376691139728,0.00015630673736823043,0.0031995368999682863,-0.0034400074148091793,-0.13444194838701093,0.4789461432114391,0.2998922445797836,1.0,1.1157698079041509e-12,-1.6644029099016414e-11,-1.2763577785772702e-13],"qvel":[-2.038067351771773e-05,0.0005536969684554786,0.014606621795465216,-0.015888214109566378,1.4999996408081866e-05,-1.7836508427592602e-05,-9.096644002797122e-06,-1.850838140869251e-07,-8.486080189831846e-06,9.402805431989213e-06,-9.075128161166684e-06,-3.2641021323756173e-08,-7.901970764463494e-06,9.521124788663434e-06,2.038106579018133e-11,1.3662918204868637e-12,6.291655935640883e-15,-4.586940004081823e-11,6.842298656613844e-10,-3.8663441413053254e-13],"joint_position_rad":[-1.569868860739022,-1.5990838823069813,1.665407287509107,-1.6368959829477994,-1.570800454549619,0.0009273570922276873],"joint_velocity_rad_s":[-2.038067351771773e-05,0.0005536969684554786,0.014606621795465216,-0.015888214109566378,1.4999996408081866e-05,-1.7836508427592602e-05],"linkage_position_rad":[0.0029355421375230504,0.00015633883702789348,0.0031952867343922955,-0.0034312850097447146,0.0029355376691139728,0.00015630673736823043,0.0031995368999682863,-0.0034400074148091793],"tcp_position_m":[-0.13444319859763082,0.47893582152536934,0.30602788486888166],"tcp_quaternion_wxyz":[8.063859335823688e-05,0.7071067380722637,0.7071068154477324,-7.75731013671127e-05],"object_position_m":[-0.13444194838701093,0.4789461432114391,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1157698079041509e-12,-1.6644029099016414e-11,-1.2763577785772702e-13],"object_linear_velocity_m_s":[2.038106579018133e-11,1.3662918204868637e-12,6.291655935640883e-15],"object_angular_velocity_rad_s":[-4.5869400040630693e-11,6.842298656613969e-10,-3.8663441413054975e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093134995666604,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569872486935034,-1.6088537546620962,1.6578319646430135,-1.6448831628666152,-1.5707960056497672,0.0009238253040568694,0.0],"actuator_force":[0.0008998773832900042,-19.761223497612264,-20.99329445037256,-2.404768548451216,0.0007244502850198842,1.7756757350329e-05,-0.2934631314710313],"issued_joint_targets_rad":[-1.5698726218767263,-1.599004150822889,1.6682813990490524,-1.6400592053147944,-1.5707973579738905,0.0009237129280561293],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.8999999999997916,"joint_targets_rad":[-1.5698726218767263,-1.599004150822889,1.6682813990490524,-1.6400592053147944,-1.5707973579738905,0.0009237129280561293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9199999999997894,"qpos":[-1.5698692550766022,-1.5990735477461147,1.665684496353471,-1.6371978102243694,-1.5708001597357728,0.0009270083178334604,0.0029353677869315034,0.00015633522677247684,0.003195124333896552,-0.003431104566113517,0.0029353637327134852,0.00015630612884775166,0.0031993859121964355,-0.003439824638435168,-0.13444194838640813,0.47894614321147944,0.2998922445797836,1.0,1.1871478477179753e-12,-1.7708877968990667e-11,-1.4960834574923794e-13],"qvel":[-1.8687930738337044e-05,0.00048573352738085797,0.013203192394256987,-0.014383952704044209,1.4063449643192158e-05,-1.6644276309526324e-05,-8.35040031738631e-06,-1.6651137201442897e-07,-7.799924749731425e-06,8.618866014915859e-06,-8.331210395010169e-06,-2.9964698479060474e-08,-7.276643829202521e-06,8.725123242823716e-06,2.201012309436249e-11,1.4754923281861801e-12,6.2902681568601016e-15,-3.9180784748466345e-11,5.844613982116152e-10,-7.058970905261673e-13],"joint_position_rad":[-1.5698692550766022,-1.5990735477461147,1.665684496353471,-1.6371978102243694,-1.5708001597357728,0.0009270083178334604],"joint_velocity_rad_s":[-1.8687930738337044e-05,0.00048573352738085797,0.013203192394256987,-0.014383952704044209,1.4063449643192158e-05,-1.6644276309526324e-05],"linkage_position_rad":[0.0029353677869315034,0.00015633522677247684,0.003195124333896552,-0.003431104566113517,0.0029353637327134852,0.00015630612884775166,0.0031993859121964355,-0.003439824638435168],"tcp_position_m":[-0.1344430856659653,0.478936432560124,0.30591696854857997],"tcp_quaternion_wxyz":[7.547963817695551e-05,0.707106754749775,0.7071067998645274,-7.263203305608972e-05],"object_position_m":[-0.13444194838640813,0.47894614321147944,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1871478477179753e-12,-1.7708877968990667e-11,-1.4960834574923794e-13],"object_linear_velocity_m_s":[2.201012309436249e-11,1.4754923281861801e-12,6.2902681568601016e-15],"object_angular_velocity_rad_s":[-3.9180784748266465e-11,5.844613982116286e-10,-7.058970905261786e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313500774131332,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698726033140733,-1.608853976550742,1.6578333428683212,-1.6448857533035512,-1.5707958969201619,0.0009237126062069068,0.0],"actuator_force":[0.0007786973533256969,-19.755151020206995,-20.98358392800219,-2.405576269186554,0.0007250628411838989,1.657181767583671e-05,-0.2934531679286875],"issued_joint_targets_rad":[-1.569872723372046,-1.5990043988152085,1.6682825708769276,-1.6400614934289888,-1.5707972604726432,0.0009236109130463244],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.9199999999997894,"joint_targets_rad":[-1.569872723372046,-1.5990043988152085,1.6682825708769276,-1.6400614934289888,-1.5707972604726432,0.0009236109130463244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9399999999997872,"qpos":[-1.5698696169963569,-1.5990644925401223,1.665935077565406,-1.6374710603783864,-1.5707998836481771,0.0009266831456644129,0.0029352078912784885,0.00015633196813900964,0.0031949752337430298,-0.003430939302024437,0.0029352042112793185,0.00015630558378793857,0.003199247127963803,-0.0034396572657002904,-0.13444194838578188,0.47894614321152146,0.2998922445797836,1.0,1.3064831907173524e-12,-1.9488625168768122e-11,-1.7764900753094975e-13],"qvel":[-1.7136785597086397e-05,0.00042536937108718576,0.0119349659246291,-0.013022046954274828,1.3169087372170699e-05,-1.5517174789158466e-05,-7.651369410394759e-06,-1.4985942884195163e-07,-7.154981874911397e-06,7.887232319444517e-06,-7.63423097220623e-06,-2.742668647095063e-08,-6.685729120881761e-06,7.982726014258246e-06,2.4883283299015646e-11,1.6681335531172296e-12,6.293043714421663e-15,-3.015765640546636e-11,4.4987448118760437e-10,-1.2887919226013924e-12],"joint_position_rad":[-1.5698696169963569,-1.5990644925401223,1.665935077565406,-1.6374710603783864,-1.5707998836481771,0.0009266831456644129],"joint_velocity_rad_s":[-1.7136785597086397e-05,0.00042536937108718576,0.0119349659246291,-0.013022046954274828,1.3169087372170699e-05,-1.5517174789158466e-05],"linkage_position_rad":[0.0029352078912784885,0.00015633196813900964,0.0031949752337430298,-0.003430939302024437,0.0029352042112793185,0.00015630558378793857,0.003199247127963803,-0.0034396572657002904],"tcp_position_m":[-0.13444298345478792,0.4789370230810001,0.30581688712362964],"tcp_quaternion_wxyz":[7.056445119843744e-05,0.7071067682486877,0.7071067873414073,-6.792104100248783e-05],"object_position_m":[-0.13444194838578188,0.47894614321152146,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3064831907173524e-12,-1.9488625168768122e-11,-1.7764900753094975e-13],"object_linear_velocity_m_s":[2.4883283299015646e-11,1.6681335531172296e-12,6.293043714421663e-15],"object_angular_velocity_rad_s":[-3.015765640525629e-11,4.4987448118761843e-10,-1.288791922601348e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313501886935496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698727082369743,-1.6088542546098519,1.6578346634766095,-1.6448880908697345,-1.5707957985012255,0.0009236106134371452,0.0],"actuator_force":[0.0006722330035699997,-19.749671887894237,-20.97481454744502,-2.4063105502465305,0.0007256647386384429,1.5451365282026508e-05,-0.29344417712597737],"issued_joint_targets_rad":[-1.5698728152148707,-1.5990046900859127,1.6682836913006742,-1.6400635571284612,-1.5707971722351486,0.0009235185770303337],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.9399999999997872,"joint_targets_rad":[-1.5698728152148707,-1.5990046900859127,1.6682836913006742,-1.6400635571284612,-1.5707971722351486,0.0009235185770303337],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.959999999999785,"qpos":[-1.5698699491450254,-1.5990565723003456,1.6661615951193405,-1.6377184379194192,-1.5707996253970524,0.0009263802459699975,0.0029350615033770845,0.000156329026629662,0.003194838598190999,-0.0034307881760305475,0.0029350581615655963,0.00015630509584394468,0.003199119818792652,-0.0034395042333734385,-0.13444194838516044,0.4789461432115631,0.2998922445797836,1.0,1.3739149300294792e-12,-2.0494392241049482e-11,-2.0884816874279384e-13],"qvel":[-1.571573771000378e-05,0.0003718386289016375,0.010788853840063626,-0.011789034806554253,1.2317418492878005e-05,-1.4453677674591722e-05,-6.999569375344795e-06,-1.3491936949188022e-07,-6.551885065127968e-06,7.207169907706824e-06,-6.9842440526763026e-06,-2.5038858369972683e-08,-6.1306978969648125e-06,7.293047101817242e-06,2.833824611209455e-11,1.899753665348889e-12,6.294431493202445e-15,-1.2974320782703543e-11,1.9353952984262644e-10,-2.353012483683751e-12],"joint_position_rad":[-1.5698699491450254,-1.5990565723003456,1.6661615951193405,-1.6377184379194192,-1.5707996253970524,0.0009263802459699975],"joint_velocity_rad_s":[-1.571573771000378e-05,0.0003718386289016375,0.010788853840063626,-0.011789034806554253,1.2317418492878005e-05,-1.4453677674591722e-05],"linkage_position_rad":[0.0029350615033770845,0.000156329026629662,0.003194838598190999,-0.0034307881760305475,0.0029350581615655963,0.00015630509584394468,0.003199119818792652,-0.0034395042333734385],"tcp_position_m":[-0.13444289092199796,0.47893759111416795,0.3057265821003707],"tcp_quaternion_wxyz":[6.589408105698136e-05,0.7071067790396051,0.7071067774172033,-6.344180203949205e-05],"object_position_m":[-0.13444194838516044,0.4789461432115631,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3739149300294792e-12,-2.0494392241049482e-11,-2.0884816874279384e-13],"object_linear_velocity_m_s":[2.833824611209455e-11,1.899753665348889e-12,6.294431493202445e-15],"object_angular_velocity_rad_s":[-1.2974320782526255e-11,1.9353952984263833e-10,-2.353012483683739e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313502910074496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698728028744213,-1.6088545687183677,1.6578359183381104,-1.6448902010080495,-1.5707957094052487,0.0009235182982837266,0.0],"actuator_force":[0.0005788362923340173,-19.744728287605085,-20.96689509848602,-2.4069780636597216,0.000726254052551667,1.4393924323785612e-05,-0.29343606417999396],"issued_joint_targets_rad":[-1.56987289833178,-1.5990050082450853,1.668284754154324,-1.6400654190135973,-1.5707970923730759,0.0009234349930268324],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.959999999999785,"joint_targets_rad":[-1.56987289833178,-1.5990050082450853,1.668284754154324,-1.6400654190135973,-1.5707970923730759,0.0009234349930268324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.979999999999783,"qpos":[-1.569870253966526,-1.5990496574078883,1.6663663650088347,-1.6379423915834046,-1.5707993840912706,0.0009260983271368012,0.0029349276847589175,0.00015632637117537294,0.003194713589478119,-0.003430650168853177,0.0029349246486412195,0.00015630465926000007,0.0031990032433561713,-0.003439364502554869,-0.13444194838455217,0.47894614321160384,0.2998922445797836,1.0,1.3807132059259576e-12,-2.0595927045442e-11,-2.4240300677873176e-13],"qvel":[-1.4414085853038445e-05,0.00032443985964813603,0.00975304603856778,-0.010672725706867068,1.1508461625530372e-05,-1.3451943497357567e-05,-6.394182453658633e-06,-1.215069802479753e-07,-5.990365875260362e-06,6.577227863723208e-06,-6.38046266763348e-06,-2.280704733596472e-08,-5.612004179952764e-06,6.654503638555287e-06,3.303184773586675e-11,2.214383968024202e-12,6.291655935640882e-15,1.5537696748984583e-11,-2.3179369001109418e-10,-4.296006019337886e-12],"joint_position_rad":[-1.569870253966526,-1.5990496574078883,1.6663663650088347,-1.6379423915834046,-1.5707993840912706,0.0009260983271368012],"joint_velocity_rad_s":[-1.4414085853038445e-05,0.00032443985964813603,0.00975304603856778,-0.010672725706867068,1.1508461625530372e-05,-1.3451943497357567e-05],"linkage_position_rad":[0.0029349276847589175,0.00015632637117537294,0.003194713589478119,-0.003430650168853177,0.0029349246486412195,0.00015630465926000007,0.0031990032433561713,-0.003439364502554869],"tcp_position_m":[-0.13444280712356824,0.4789381353020696,0.30564509838325193],"tcp_quaternion_wxyz":[6.146710696371156e-05,0.7071067875348932,0.7071067696889936,-5.919352893974733e-05],"object_position_m":[-0.13444194838455217,0.47894614321160384,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3807132059259576e-12,-2.0595927045442e-11,-2.4240300677873176e-13],"object_linear_velocity_m_s":[3.303184773586675e-11,2.214383968024202e-12,6.291655935640882e-15],"object_angular_velocity_rad_s":[1.553769674904917e-11,-2.3179369001108984e-10,-4.296006019337941e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313503848831192,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698728882698851,-1.6088549034401467,1.657837102613082,-1.644892106472525,-1.570795628740955,0.0009234347338397772,0.0],"actuator_force":[0.0004970276227140857,-19.740268008376006,-20.95974320693267,-2.4075848738735885,0.0007268289953117346,1.3397701223716307e-05,-0.2934287434444004],"issued_joint_targets_rad":[-1.5698729735588353,-1.5990053407150393,1.6682857558961415,-1.6400670993085131,-1.5707970200847654,0.0009233593244221011],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.979999999999783,"joint_targets_rad":[-1.5698729735588353,-1.5990053407150393,1.6682857558961415,-1.6400670993085131,-1.5707970200847654,0.0009233593244221011],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9999999999997806,"qpos":[-1.569870533713625,-1.5990436317278565,1.6665514794270282,-1.638145138493475,-1.570799158846893,0.0009258361407416489,0.0029348055199230126,0.00015632397378729425,0.0031945993831028223,-0.003430524295552239,0.0029348027601827707,0.0001563042688232233,0.003198896663914469,-0.0034392370706263805,-0.1344419483839683,0.4789461432116429,0.2998922445797836,1.0,1.3105084632771844e-12,-1.9548776041525146e-11,-2.7626605668335655e-13],"qvel":[-1.322190818390522e-05,0.00028253307658030754,0.00881688393438341,-0.009662080762246254,1.074183596452376e-05,-1.2509892514880807e-05,-5.833786836796916e-06,-1.0945928706030975e-07,-5.469493249723084e-06,5.995450714351448e-06,-5.8214913578809075e-06,-2.0732478100763516e-08,-5.129341947209983e-06,6.065025181138607e-06,4.029594274084262e-11,2.7013603209694695e-12,6.2930437144216635e-15,5.92180423555193e-11,-8.833537673191492e-10,-7.843430381107537e-12],"joint_position_rad":[-1.569870533713625,-1.5990436317278565,1.6665514794270282,-1.638145138493475,-1.570799158846893,0.0009258361407416489],"joint_velocity_rad_s":[-1.322190818390522e-05,0.00028253307658030754,0.00881688393438341,-0.009662080762246254,1.074183596452376e-05,-1.2509892514880807e-05],"linkage_position_rad":[0.0029348055199230126,0.00015632397378729425,0.0031945993831028223,-0.003430524295552239,0.0029348027601827707,0.0001563042688232233,0.003198896663914469,-0.0034392370706263805],"tcp_position_m":[-0.13444273120566944,0.47893865479495795,0.3055715741785094],"tcp_quaternion_wxyz":[5.728010366669762e-05,0.7071067940944823,0.7071067638060785,-5.517342849052887e-05],"object_position_m":[-0.1344419483839683,0.4789461432116429,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3105084632771844e-12,-1.9548776041525146e-11,-2.7626605668335655e-13],"object_linear_velocity_m_s":[4.029594274084262e-11,2.7013603209694695e-12,6.2930437144216635e-15],"object_angular_velocity_rad_s":[5.921804235533789e-11,-8.833537673191613e-10,-7.843430381107542e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313504708603113,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569872965354732,-1.6088552470646693,1.657838213974132,-1.6448938276331293,-1.5707955557037603,0.0009233590835615353,0.0],"actuator_force":[0.00042548105966488947,-19.736243904257663,-20.953284479546255,-2.4081364936025693,0.0007273879699596364,1.2460661431290543e-05,-0.2934221376143158],"issued_joint_targets_rad":[-1.5698730416507103,-1.599005677954503,1.6682866949833324,-1.6400686161270739,-1.5707969546465004,0.0009232908158737031],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.9999999999997806,"joint_targets_rad":[-1.5698730416507103,-1.599005677954503,1.6682866949833324,-1.6400686161270739,-1.5707969546465004,0.0009232908158737031],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0199999999997784,"qpos":[-1.5698707904599305,-1.5990383913935406,1.6667188285538312,-1.6383286860431925,-1.570798948794053,0.000925592485243613,0.0029346941264731946,0.00015632180924522076,0.003194495178894544,-0.0034304096139289946,0.0029346916166507002,0.00015630391981910144,0.0031987993584042173,-0.003439120979445761,-0.13444194838342466,0.4789461432116794,0.2998922445797836,1.0,1.1353302934313276e-12,-1.6935673269362146e-11,-3.0601805482908867e-13],"qvel":[-1.2130033037358174e-05,0.0002455363194990941,0.00797074650069222,-0.008747104155009351,1.0016838908991802e-05,-1.1625271293080047e-05,-5.316538832928534e-06,-9.863184095815931e-08,-4.987862401889947e-06,5.459544897750321e-06,-5.305509053340709e-06,-1.8813047059904618e-08,-4.681848188472863e-06,5.522217132021315e-06,2.0710131999249706e-11,1.3883634593828605e-12,6.290268156860099e-15,-4.850410904709295e-11,7.235313406766642e-10,-8.497715937040655e-13],"joint_position_rad":[-1.5698707904599305,-1.5990383913935406,1.6667188285538312,-1.6383286860431925,-1.570798948794053,0.000925592485243613],"joint_velocity_rad_s":[-1.2130033037358174e-05,0.0002455363194990941,0.00797074650069222,-0.008747104155009351,1.0016838908991802e-05,-1.1625271293080047e-05],"linkage_position_rad":[0.0029346941264731946,0.00015632180924522076,0.003194495178894544,-0.0034304096139289946,0.0029346916166507002,0.00015630391981910144,0.0031987993584042173,-0.003439120979445761],"tcp_position_m":[-0.13444266239707903,0.47893914915900443,0.30550523188275247],"tcp_quaternion_wxyz":[5.332804014469836e-05,0.7071067990313278,0.7071067594643563,-5.1377094598090076e-05],"object_position_m":[-0.13444194838342466,0.4789461432116794,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1353302934313276e-12,-1.6935673269362146e-11,-3.0601805482908867e-13],"object_linear_velocity_m_s":[2.0710131999249706e-11,1.3883634593828605e-12,6.290268156860099e-15],"object_angular_velocity_rad_s":[-4.850410904662134e-11,7.235313406766958e-10,-8.497715937040708e-13],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313505494777184,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698730349613406,-1.608855590833465,1.6578392519882155,-1.6448953827430302,-1.570795489567068,0.0009232905921727525,0.0],"actuator_force":[0.0003630103947216412,-19.732613407647932,-20.94745173150841,-2.408637934417925,0.0007279296016804437,1.158059387768029e-05,-0.2934161769167634],"issued_joint_targets_rad":[-1.569873103288845,-1.599006012832188,1.6682875713754508,-1.6400699857067422,-1.5707968954047133,0.0009232287851795084],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.0199999999997784,"joint_targets_rad":[-1.569873103288845,-1.599006012832188,1.6682875713754508,-1.6400699857067422,-1.5707968954047133,0.0009232287851795084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.039999999999776,"qpos":[-1.5698710261118904,-1.5990338436664757,1.6668701201931213,-1.6384948517161277,-1.5707987530824332,0.0009253662085384758,0.002934592662035053,0.00015631985481808609,0.003194400208774878,-0.003430305229980446,0.002934590378240527,0.0001563036079892768,0.0031987106291027833,-0.0034390153206390714,-0.1344419483827959,0.4789461432117216,0.2998922445797836,1.0,1.2142292209860214e-12,-1.8112800239639923e-11,-3.6033751269806834e-13],"qvel":[-1.1130003346957884e-05,0.00021292196706696368,0.007205947892348836,-0.007918744759858818,9.332512180460532e-06,-1.0795706670160901e-05,-4.8403150873555915e-06,-8.88965055286244e-08,-4.54374305383435e-06,4.967005740908792e-06,-4.830411858399646e-06,-1.7044179558041976e-08,-4.268263717158578e-06,5.023486155641978e-06,2.2373983352884818e-11,1.4998871750788257e-12,6.294431493202444e-15,-4.2753433254748815e-11,6.37753490095889e-10,-1.5514633323509302e-12],"joint_position_rad":[-1.5698710261118904,-1.5990338436664757,1.6668701201931213,-1.6384948517161277,-1.5707987530824332,0.0009253662085384758],"joint_velocity_rad_s":[-1.1130003346957884e-05,0.00021292196706696368,0.007205947892348836,-0.007918744759858818,9.332512180460532e-06,-1.0795706670160901e-05],"linkage_position_rad":[0.002934592662035053,0.00015631985481808609,0.003194400208774878,-0.003430305229980446,0.002934590378240527,0.0001563036079892768,0.0031987106291027833,-0.0034390153206390714],"tcp_position_m":[-0.1344426000019601,0.47893961829855897,0.3054453698605606],"tcp_quaternion_wxyz":[4.9604620398408476e-05,0.7071068026165042,0.707106756401122,-4.77988445881321e-05],"object_position_m":[-0.1344419483827959,0.4789461432117216,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2142292209860214e-12,-1.8112800239639923e-11,-3.6033751269806834e-13],"object_linear_velocity_m_s":[2.2373983352884818e-11,1.4998871750788257e-12,6.294431493202444e-15],"object_angular_velocity_rad_s":[-4.2753433254233e-11,6.377534900959235e-10,-1.551463332350941e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313506212637337,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698730978345046,-1.6088559283173287,1.6578402176273321,-1.6448967881733012,-1.5707954296744937,0.0009232285775342419,0.0],"actuator_force":[0.0003085561106672685,-19.72933808853304,-20.942184288517637,-2.4090937526009384,0.0007284527516731032,1.0755164899123315e-05,-0.2934107983790502],"issued_joint_targets_rad":[-1.5698731590887427,-1.5990063401217653,1.668288386141532,-1.6400712226144547,-1.5707968417690041,0.0009231726160016471],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.039999999999776,"joint_targets_rad":[-1.5698731590887427,-1.5990063401217653,1.668288386141532,-1.6400712226144547,-1.5707968417690041,0.0009231726160016471],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.059999999999774,"qpos":[-1.56987124242057,-1.5990299058751676,1.6670068974773267,-1.6386452810357295,-1.570798570885539,0.000925156209567087,0.0029345003286691713,0.00015631809001424992,0.003194313741933384,-0.003430210301101334,0.00293449824932637,0.00015630332949229906,0.0031986298086086455,-0.003438919238627287,-0.1344419483821821,0.4789461432117626,0.2998922445797836,1.0,1.2759294654447312e-12,-1.903359662336412e-11,-4.219668895806498e-13],"qvel":[-1.0214037200951017e-05,0.0001842129351091,0.006514645418219161,-0.007168807010952343,8.687698025740968e-06,-1.0018750625732975e-05,-4.402822673807491e-06,-8.013933579861509e-08,-4.135194407851629e-06,4.515217485652188e-06,-4.39392364501601e-06,-1.541966347780702e-08,-3.887058400461675e-06,4.566139498769283e-06,2.436105315787595e-11,1.6330587791130157e-12,6.293043714421662e-15,-3.198731703280627e-11,4.771514889352456e-10,-2.832580382069063e-12],"joint_position_rad":[-1.56987124242057,-1.5990299058751676,1.6670068974773267,-1.6386452810357295,-1.570798570885539,0.000925156209567087],"joint_velocity_rad_s":[-1.0214037200951017e-05,0.0001842129351091,0.006514645418219161,-0.007168807010952343,8.687698025740968e-06,-1.0018750625732975e-05],"linkage_position_rad":[0.0029345003286691713,0.00015631809001424992,0.003194313741933384,-0.003430210301101334,0.00293449824932637,0.00015630332949229906,0.0031986298086086455,-0.003438919238627287],"tcp_position_m":[-0.13444254339306608,0.4789400623904838,0.30539135502451287],"tcp_quaternion_wxyz":[4.6102573715138866e-05,0.7071068050839017,0.7071067543903015,-4.443200592791074e-05],"object_position_m":[-0.1344419483821821,0.4789461432117626,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2759294654447312e-12,-1.903359662336412e-11,-4.219668895806498e-13],"object_linear_velocity_m_s":[2.436105315787595e-11,1.6330587791130157e-12,6.293043714421662e-15],"object_angular_velocity_rad_s":[-3.1987317032295755e-11,4.771514889352799e-10,-2.832580382069107e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313506867297952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698731546413816,-1.6088562549158678,1.6578411128828079,-1.6448980586193684,-1.5707953754328983,0.0009231724233682064,0.0],"actuator_force":[0.0002611732575132919,-19.726383255444034,-20.937427356325315,-2.4095080907242163,0.0007289565178325574,9.98196313301003e-06,-0.2934059451681829],"issued_joint_targets_rad":[-1.5698732091695828,-1.5990066616824996,1.6682891387861123,-1.640072324469082,-1.570796793823378,0.0009231221763204495],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.059999999999774,"joint_targets_rad":[-1.5698732091695828,-1.5990066616824996,1.6682891387861123,-1.640072324469082,-1.570796793823378,0.0009231221763204495],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.079999999999772,"qpos":[-1.569871440984137,-1.599026504821817,1.6671305546541424,-1.6387814624137662,-1.5707984014609997,0.0009249614779144639,0.002934416378269349,0.00015631649663025584,0.003194235090370188,-0.003430124042081741,0.002934414483987804,0.00015630308140058126,0.003198556267077024,-0.0034388319367606454,-0.13444194838158535,0.4789461432118026,0.2998922445797836,1.0,1.3099728222640526e-12,-1.954185259535297e-11,-4.905381841230497e-13],"qvel":[-9.373115140267532e-06,0.00015895368369978018,0.005889746323107506,-0.006489798730089729,8.078189912802913e-06,-9.289966193387815e-06,-4.001654945568616e-06,-7.225777966255685e-08,-3.7600567038161518e-06,4.101606895912392e-06,-3.9936646375481564e-06,-1.3976383233515641e-08,-3.5366364559128105e-06,4.147488218102143e-06,2.704968877181735e-11,1.8132571675429689e-12,6.297207050764009e-15,-1.4195614905496134e-11,2.117387888694669e-10,-5.171585132191984e-12],"joint_position_rad":[-1.569871440984137,-1.599026504821817,1.6671305546541424,-1.6387814624137662,-1.5707984014609997,0.0009249614779144639],"joint_velocity_rad_s":[-9.373115140267532e-06,0.00015895368369978018,0.005889746323107506,-0.006489798730089729,8.078189912802913e-06,-9.289966193387815e-06],"linkage_position_rad":[0.002934416378269349,0.00015631649663025584,0.003194235090370188,-0.003430124042081741,0.002934414483987804,0.00015630308140058126,0.003198556267077024,-0.0034388319367606454],"tcp_position_m":[-0.13444249199473615,0.4789404814629612,0.3053426162733244],"tcp_quaternion_wxyz":[4.281421795113269e-05,0.7071068066450702,0.707106753227536,-4.126943587420286e-05],"object_position_m":[-0.13444194838158535,0.4789461432118026,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3099728222640526e-12,-1.954185259535297e-11,-4.905381841230497e-13],"object_linear_velocity_m_s":[2.704968877181735e-11,1.8132571675429689e-12,6.297207050764009e-15],"object_angular_velocity_rad_s":[-1.4195614905086277e-11,2.1173878886949437e-10,-5.171585132192057e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507463645207,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569873205543308,-1.6088565730350821,1.6578419380985443,-1.644899191821231,-1.570795326923816,0.0009231219977112758,0.0],"actuator_force":[0.00022012771432855516,-19.723717900010342,-20.933131640439115,-2.4098848307233993,0.0007294496006124973,9.256517744749004e-06,-0.29340156651494204],"issued_joint_targets_rad":[-1.5698732506462174,-1.599007084124708,1.6682899221875578,-1.6400733122733093,-1.5707967612345435,0.0009230805277487238],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.079999999999772,"joint_targets_rad":[-1.5698732506462174,-1.599007084124708,1.6682899221875578,-1.6400733122733093,-1.5707967612345435,0.0009230805277487238],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0999999999997696,"qpos":[-1.569871623472947,-1.5990235840844162,1.6672423601858966,-1.6389047444019924,-1.5707982450191822,0.0009247813787966795,0.002934340117630354,0.0001563150577227577,0.003194163619571901,-0.003430045733934249,0.0029343383932689867,0.0001563028674721052,0.0031984894501719996,-0.003438752686024948,-0.1344419483810092,0.47894614321184126,0.2998922445797836,1.0,1.301218002058389e-12,-1.9411148414270692e-11,-5.642869590605585e-13],"qvel":[-8.585123743419274e-06,0.00013626188611181553,0.005325275707803532,-0.005875043264259568,7.455296343104168e-06,-8.590676163691023e-06,-3.6337230399296062e-06,-6.449184000954097e-08,-3.4160739613087207e-06,3.7224219871534925e-06,-3.6269217742326503e-06,-1.3571772221123247e-08,-3.221236018682489e-06,3.762669669029787e-06,3.111217267133813e-11,2.0856070222898727e-12,6.299982608325572e-15,1.3411643471691935e-11,-2.0004206273863556e-10,-9.442012112672475e-12],"joint_position_rad":[-1.569871623472947,-1.5990235840844162,1.6672423601858966,-1.6389047444019924,-1.5707982450191822,0.0009247813787966795],"joint_velocity_rad_s":[-8.585123743419274e-06,0.00013626188611181553,0.005325275707803532,-0.005875043264259568,7.455296343104168e-06,-8.590676163691023e-06],"linkage_position_rad":[0.002934340117630354,0.0001563150577227577,0.003194163619571901,-0.003430045733934249,0.0029343383932689867,0.0001563028674721052,0.0031984894501719996,-0.003438752686024948],"tcp_position_m":[-0.13444244495010363,0.47894087240037286,0.30529863836345106],"tcp_quaternion_wxyz":[3.9731251661817677e-05,0.7071068076695808,0.7071067525498993,-3.830270036304927e-05],"object_position_m":[-0.1344419483810092,0.47894614321184126,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.301218002058389e-12,-1.9411148414270692e-11,-5.642869590605585e-13],"object_linear_velocity_m_s":[3.111217267133813e-11,2.0856070222898727e-12,6.299982608325572e-15],"object_angular_velocity_rad_s":[1.3411643471832733e-11,-2.0004206273862612e-10,-9.4420121126724e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508006013271,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698732476895314,-1.608856989595421,1.6578427869146872,-1.6449002089017097,-1.5707952938144951,0.0009230803622315101,0.0],"actuator_force":[0.0001856163285083312,-19.721315776454503,-20.92925682554005,-2.4102279234326716,0.0007300727091887893,8.559333784408096e-06,-0.2933976223208962],"issued_joint_targets_rad":[-1.5698732891058131,-1.5990074613461716,1.6682906345631892,-1.6400742261374552,-1.5707967291443083,0.0009230423922047727],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.0999999999997696,"joint_targets_rad":[-1.5698732891058131,-1.5990074613461716,1.6682906345631892,-1.6400742261374552,-1.5707967291443083,0.0009230423922047727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1199999999997674,"qpos":[-1.5698717905650148,-1.5990210846115285,1.6673434506096882,-1.6390163501055444,-1.5707981004417846,0.0009246148707079822,0.0029342708752552265,0.0001563137592240563,0.003194098700591178,-0.0034299746530025784,0.0029342693011646503,0.00015630266650169542,0.0031984286980822796,-0.0034386807527044413,-0.13444194838042953,0.4789461432118801,0.2998922445797836,1.0,1.3074642855337776e-12,-1.9504175524126633e-11,-6.513589750519013e-13],"qvel":[-7.86366646021786e-06,0.0001164774771907263,0.0048149204225611565,-0.005318609808219762,6.890846534888787e-06,-7.942298743328726e-06,-3.2985464878443513e-06,-5.834443093511098e-08,-3.1021429367341957e-06,3.3779395185799087e-06,-3.2923790053026398e-06,-1.2235405832559174e-08,-2.9256386309465082e-06,3.4145532511904353e-06,3.811757575933109e-11,2.555211376502424e-12,6.295819271983229e-15,5.3217034600969125e-11,-7.938565919645386e-10,-1.7238731817946913e-11],"joint_position_rad":[-1.5698717905650148,-1.5990210846115285,1.6673434506096882,-1.6390163501055444,-1.5707981004417846,0.0009246148707079822],"joint_velocity_rad_s":[-7.86366646021786e-06,0.0001164774771907263,0.0048149204225611565,-0.005318609808219762,6.890846534888787e-06,-7.942298743328726e-06],"linkage_position_rad":[0.0029342708752552265,0.0001563137592240563,0.003194098700591178,-0.0034299746530025784,0.0029342693011646503,0.00015630266650169542,0.0031984286980822796,-0.0034386807527044413],"tcp_position_m":[-0.1344424022221908,0.47894123708538217,0.3052589570621477],"tcp_quaternion_wxyz":[3.684354198229188e-05,0.7071068080321292,0.7071067524888444,-3.552247583622652e-05],"object_position_m":[-0.13444194838042953,0.4789461432118801,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3074642855337776e-12,-1.9504175524126633e-11,-6.513589750519013e-13],"object_linear_velocity_m_s":[3.811757575933109e-11,2.555211376502424e-12,6.295819271983229e-15],"object_angular_velocity_rad_s":[5.321703460060741e-11,-7.938565919645628e-10,-1.7238731817946884e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508499495313,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698732866950469,-1.6088573589344792,1.6578435582372248,-1.644901150096312,-1.570795261243276,0.0009230422389045945,0.0],"actuator_force":[0.00015320651982619893,-19.719139636777527,-20.925752913951328,-2.4105390145617775,0.0007305146007183794,7.913972638995403e-06,-0.29339405419352815],"issued_joint_targets_rad":[-1.5698733259341833,-1.599007784439652,1.6682912596972652,-1.6400750430847066,-1.570796694569304,0.0009230057847629343],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.1199999999997674,"joint_targets_rad":[-1.5698733259341833,-1.599007784439652,1.6682912596972652,-1.6400750430847066,-1.570796694569304,0.0009230057847629343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.139999999999765,"qpos":[-1.5698719436921893,-1.5990189507095556,1.6674348512093167,-1.6391173844110192,-1.5707979663648564,0.0009244608065756884,0.002934208039863328,0.00015631258610036275,0.003194039769762666,-0.0034299101733654322,0.0029342066014406867,0.00015630248598157587,0.0031983735344188594,-0.0034386155015449656,-0.13444194837987564,0.4789461432119173,0.2998922445797836,1.0,1.1942840306002702e-12,-1.7815755661730126e-11,-7.315525721874348e-13],"qvel":[-7.214700039338573e-06,9.933283362601027e-05,0.004353395365215231,-0.004814823671074993,6.391786661142346e-06,-7.349054803412296e-06,-2.992664920737017e-06,-5.286288140607293e-08,-2.815272898200078e-06,3.0635764391665055e-06,-2.9869685607386528e-06,-1.074186614353753e-08,-2.6538371015621437e-06,3.0969542044408206e-06,4.967841879467839e-11,3.3302010264979436e-12,6.298594829544791e-15,1.1199646341173607e-10,-1.6707152818957888e-09,-3.147362677759809e-11],"joint_position_rad":[-1.5698719436921893,-1.5990189507095556,1.6674348512093167,-1.6391173844110192,-1.5707979663648564,0.0009244608065756884],"joint_velocity_rad_s":[-7.214700039338573e-06,9.933283362601027e-05,0.004353395365215231,-0.004814823671074993,6.391786661142346e-06,-7.349054803412296e-06],"linkage_position_rad":[0.002934208039863328,0.00015631258610036275,0.003194039769762666,-0.0034299101733654322,0.0029342066014406867,0.00015630248598157587,0.0031983735344188594,-0.0034386155015449656],"tcp_position_m":[-0.1344423634761524,0.47894157787357355,0.30522315258177524],"tcp_quaternion_wxyz":[3.414214588328628e-05,0.707106807836218,0.7071067529462632,-3.2920799875362387e-05],"object_position_m":[-0.13444194837987564,0.4789461432119173,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1942840306002702e-12,-1.7815755661730126e-11,-7.315525721874348e-13],"object_linear_velocity_m_s":[4.967841879467839e-11,3.3302010264979436e-12,6.298594829544791e-15],"object_angular_velocity_rad_s":[1.1199646341041309e-10,-1.6707152818958773e-09,-3.14736267775981e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508947902696,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698733239685227,-1.6088576726070558,1.6578442364789385,-1.6449019925359292,-1.5707952262222953,0.000923005642854341,0.0],"actuator_force":[0.00012532734854175942,-19.7171769284505,-20.922587606842626,-2.410821695347522,0.0007308926144560246,7.323619667543024e-06,-0.29339083389779336],"issued_joint_targets_rad":[-1.5698733591152252,-1.599008090751935,1.6682918339355712,-1.6400757789207325,-1.5707966636771764,0.0009229729351316494],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.139999999999765,"joint_targets_rad":[-1.5698733591152252,-1.599008090751935,1.6682918339355712,-1.6400757789207325,-1.5707966636771764,0.0009229729351316494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.159999999999763,"qpos":[-1.5698720842355676,-1.5990171357074228,1.6675174917446023,-1.6392088482065705,-1.5707978421118893,0.0009243183435439503,0.002934151052308268,0.0001563115260202197,0.003193986310015388,-0.0034298517193238854,0.0029341497378076345,0.00015630232792623218,0.0031983234992212675,-0.003438556348945863,-0.13444194837926146,0.47894614321195844,0.2998922445797836,1.0,1.2203916155063364e-12,-1.820523556827829e-11,-8.509395359837867e-13],"qvel":[-6.621452492444973e-06,8.43587399427714e-05,0.003936159318787339,-0.004358731840884884,5.923093766109646e-06,-6.795421665091608e-06,-2.7134736957361893e-06,-4.767533912507072e-08,-2.5532810912117687e-06,2.7767341984165515e-06,-2.7083450924056416e-06,-9.67538693326561e-09,-2.407639971801341e-06,2.8068244385071422e-06,2.231874171895639e-11,1.4961413415520956e-12,6.2985948295447906e-15,-4.4774959548162825e-11,6.679307084116189e-10,-3.4099084725535833e-12],"joint_position_rad":[-1.5698720842355676,-1.5990171357074228,1.6675174917446023,-1.6392088482065705,-1.5707978421118893,0.0009243183435439503],"joint_velocity_rad_s":[-6.621452492444973e-06,8.43587399427714e-05,0.003936159318787339,-0.004358731840884884,5.923093766109646e-06,-6.795421665091608e-06],"linkage_position_rad":[0.002934151052308268,0.0001563115260202197,0.003193986310015388,-0.0034298517193238854,0.0029341497378076345,0.00015630232792623218,0.0031983234992212675,-0.003438556348945863],"tcp_position_m":[-0.1344423282245136,0.47894189594021264,0.3051908459867286],"tcp_quaternion_wxyz":[3.161816924986605e-05,0.7071068072746723,0.707106753734197,-3.048927316070927e-05],"object_position_m":[-0.13444194837926146,0.47894614321195844,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2203916155063364e-12,-1.820523556827829e-11,-8.509395359837867e-13],"object_linear_velocity_m_s":[2.231874171895639e-11,1.4961413415520956e-12,6.2985948295447906e-15],"object_angular_velocity_rad_s":[-4.477495954690193e-11,6.679307084117034e-10,-3.4099084725535866e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509354905307,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698733575124846,-1.6088579683114148,1.6578448585553447,-1.6449027521299715,-1.5707951949168428,0.0009229728038365382,0.0],"actuator_force":[0.00010202716339335893,-19.715408703961202,-20.919730106029874,-2.4110787776120333,0.0007312881466532417,6.772312803160485e-06,-0.2933879304118544],"issued_joint_targets_rad":[-1.5698733890769583,-1.5990083755818458,1.6682923592521273,-1.640076446170108,-1.5707966358572087,0.0009229433698865521],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.159999999999763,"joint_targets_rad":[-1.5698733890769583,-1.5990083755818458,1.6682923592521273,-1.640076446170108,-1.5707966358572087,0.0009229433698865521],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.179999999999761,"qpos":[-1.569872213227728,-1.5990155986500407,1.6675922125220624,-1.6392916480056579,-1.5707977270450233,0.000924186686665236,0.002934099394107121,0.000156310568608833,0.003193937838635697,-0.00342979874947477,0.002934098191684029,0.0001563021869818807,0.003198278127455324,-0.0034385027468319053,-0.13444194837862672,0.47894614321200096,0.2998922445797836,1.0,1.30069982459251e-12,-1.9403237944059834e-11,-1.003720806348196e-12],"qvel":[-6.077670834282484e-06,7.13185071329346e-05,0.0035589455769207364,-0.003945843541888335,5.485052199729177e-06,-6.279778968410949e-06,-2.4592128900533835e-06,-4.303331925431603e-08,-2.3145557277355027e-06,2.5157893535583175e-06,-2.454589756273925e-06,-8.715292703584486e-09,-2.183037312021379e-06,2.542977354269001e-06,2.449881238755956e-11,1.642284856866744e-12,6.301370387106355e-15,-3.583042872590722e-11,5.345031091055764e-10,-6.225639537539648e-12],"joint_position_rad":[-1.569872213227728,-1.5990155986500407,1.6675922125220624,-1.6392916480056579,-1.5707977270450233,0.000924186686665236],"joint_velocity_rad_s":[-6.077670834282484e-06,7.13185071329346e-05,0.0035589455769207364,-0.003945843541888335,5.485052199729177e-06,-6.279778968410949e-06],"linkage_position_rad":[0.002934099394107121,0.000156310568608833,0.003193937838635697,-0.00342979874947477,0.002934098191684029,0.0001563021869818807,0.003198278127455324,-0.0034385027468319053],"tcp_position_m":[-0.13444229613691952,0.47894219251183195,0.3051616955868505],"tcp_quaternion_wxyz":[2.9262450461868526e-05,0.707106806433783,0.7071067547707358,-2.8219201988434834e-05],"object_position_m":[-0.13444194837862672,0.47894614321200096,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.30069982459251e-12,-1.9403237944059834e-11,-1.003720806348196e-12],"object_linear_velocity_m_s":[2.449881238755956e-11,1.642284856866744e-12,6.301370387106355e-15],"object_angular_velocity_rad_s":[-3.583042872459264e-11,5.345031091056646e-10,-6.225639537539645e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509724186295,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698733877701243,-1.6088582416408597,1.657845426955457,-1.644903441505283,-1.5707951667140898,0.0009229432484732839,0.0],"actuator_force":[8.198354134947294e-05,-19.713813384491004,-20.91714936397875,-2.4113123956236677,0.0007316602467426492,6.258800865077685e-06,-0.2933853102763259],"issued_joint_targets_rad":[-1.5698890869827407,-1.6020876136697006,1.6242216895412216,-1.5931403767291759,-1.5707818319460687,0.0009072783149568881],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.179999999999761,"joint_targets_rad":[-1.5698890869827407,-1.6020876136697006,1.6242216895412216,-1.5931403767291759,-1.5707818319460687,0.0009072783149568881],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1999999999997586,"qpos":[-1.5698736816461574,-1.5990698632870048,1.6664064405046664,-1.63785795027887,-1.5707964707594442,0.0009226397378778676,0.0029489083443833865,0.00015933181970163518,0.003200244106897782,-0.0034555142054525927,0.0029485391305392786,0.0001565736446301638,0.003194400739586985,-0.003466042525358144,-0.13444194837800572,0.47894614321204265,0.2998922445797836,1.0,1.3499367998460672e-12,-2.0137551809341153e-11,-1.1747150037501338e-12],"qvel":[0.00016416055969268903,-0.002718808135609772,-0.1257458029127999,0.1398309347095957,7.32547189739724e-05,-7.775374924041934e-05,0.0007774509212119959,8.008915908003963e-05,0.0005745747711567603,-0.0010897244894529886,0.000764927777804564,2.6472662764267848e-05,0.00036312015284332164,-0.0011305270186501679,2.717640160981108e-11,1.821794371314977e-12,6.298594829544791e-15,-1.980777877029732e-11,2.9549373121875954e-10,-1.1366439807607475e-11],"joint_position_rad":[-1.5698736816461574,-1.5990698632870048,1.6664064405046664,-1.63785795027887,-1.5707964707594442,0.0009226397378778676],"joint_velocity_rad_s":[0.00016416055969268903,-0.002718808135609772,-0.1257458029127999,0.1398309347095957,7.32547189739724e-05,-7.775374924041934e-05],"linkage_position_rad":[0.0029489083443833865,0.00015933181970163518,0.003200244106897782,-0.0034555142054525927,0.0029485391305392786,0.0001565736446301638,0.003194400739586985,-0.003466042525358144],"tcp_position_m":[-0.13444187768189872,0.47890280232414456,0.30562665931179983],"tcp_quaternion_wxyz":[9.735132610919951e-05,0.7071067725843996,0.7071067764244516,-9.707014620585202e-05],"object_position_m":[-0.13444194837800572,0.47894614321204265,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3499367998460672e-12,-2.0137551809341153e-11,-1.1747150037501338e-12],"object_linear_velocity_m_s":[2.717640160981108e-11,1.821794371314977e-12,6.298594829544791e-15],"object_angular_velocity_rad_s":[-1.9807778769145295e-11,2.954937312188368e-10,-1.136643980760744e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313677642119911,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569887637903447,-1.6119423959069155,1.6278453193465872,-1.6149010781533462,-1.5707803584599207,0.0009072770592491436,0.0],"actuator_force":[-0.09357673845624959,-24.657541985577154,-26.823921151038576,-2.5046574081976587,0.0007306778643396683,9.403560967996549e-05,-0.30258426724121606],"issued_joint_targets_rad":[-1.5698880802347943,-1.602191865828773,1.6231661600564455,-1.5919795031299906,-1.5707818923932695,0.0009082777537724278],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.1999999999997586,"joint_targets_rad":[-1.5698880802347943,-1.602191865828773,1.6231661600564455,-1.5919795031299906,-1.5707818923932695,0.0009082777537724278],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2199999999997564,"qpos":[-1.5698802989932645,-1.5991906811517305,1.6627694995448203,-1.6339345609156024,-1.5707942773738865,0.0009212516658768291,0.0029566240257402395,0.00015797855661306084,0.003211411185172006,-0.0034592004589619127,0.0029564446970734726,0.00015721170293376774,0.0032127707065665754,-0.003468458634443417,-0.1344419483774032,0.47894614321208306,0.2998922445797836,1.0,1.3563723478064997e-12,-2.0233528982895533e-11,-1.3605481772192473e-12],"qvel":[-0.0008280088909037073,-0.012741024588949648,-0.19914413696351774,0.21215820883649317,3.3523475520058175e-05,-6.511695217308803e-05,-0.00018314034940837215,-0.00021065342905740456,0.0004033745796122912,0.0009747427648087984,-0.00014940219949830525,-9.742856898909998e-06,0.0011220347266008973,0.0010574623514273782,3.100816970129976e-11,2.078658917402336e-12,6.291655935640884e-15,5.788244859834962e-12,-8.63478582471231e-11,-2.075220883228376e-11],"joint_position_rad":[-1.5698802989932645,-1.5991906811517305,1.6627694995448203,-1.6339345609156024,-1.5707942773738865,0.0009212516658768291],"joint_velocity_rad_s":[-0.0008280088909037073,-0.012741024588949648,-0.19914413696351774,0.21215820883649317,3.3523475520058175e-05,-6.511695217308803e-05],"linkage_position_rad":[0.0029566240257402395,0.00015797855661306084,0.003211411185172006,-0.0034592004589619127,0.0029564446970734726,0.00015721170293376774,0.0032127707065665754,-0.003468458634443417],"tcp_position_m":[-0.1344392721098,0.47890634325386616,0.3070785426755375],"tcp_quaternion_wxyz":[0.00015518917910872573,0.7071086111007939,0.7071049169518134,-0.00015635214485926657],"object_position_m":[-0.1344419483774032,0.47894614321208306,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3563723478064997e-12,-2.0233528982895533e-11,-1.3605481772192473e-12],"object_linear_velocity_m_s":[3.100816970129976e-11,2.078658917402336e-12,6.291655935640884e-15],"object_angular_velocity_rad_s":[5.788244860439782e-12,-8.634785824708255e-11,-2.0752208832283765e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313464966255064,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698836764131552,-1.6120574663865552,1.6127180103528216,-1.5967998875175295,-1.5707804116179092,0.0009082744636748978,0.0],"actuator_force":[0.3244487165798091,-20.637160634069915,-20.44532359859022,-2.6484841846129257,0.003580530436806839,2.30941163431031e-05,-0.29399072339615223],"issued_joint_targets_rad":[-1.5698924329467305,-1.6022609444483955,1.619603421187206,-1.5883467779105338,-1.5707819002026593,0.000903931191484019],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.2199999999997564,"joint_targets_rad":[-1.5698924329467305,-1.6022609444483955,1.619603421187206,-1.5883467779105338,-1.5707819002026593,0.000903931191484019],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.239999999999754,"qpos":[-1.5698860038813889,-1.5994691588305685,1.6586674150428342,-1.6295907350588004,-1.5707936159221652,0.0009196167234242742,0.0029528484700704744,0.0001561954214963302,0.0032125956666786445,-0.0034474227479214773,0.002952892488056584,0.0001564718152262985,0.0032178139475188936,-0.0034562121464215374,-0.13444194837682613,0.47894614321212176,0.2998922445797836,1.0,1.3010321708118289e-12,-1.9407901905833227e-11,-1.5519196382282088e-12],"qvel":[-0.00015213787625130358,-0.015504910689029773,-0.19830137830115085,0.20747582980918866,4.008952226796e-05,-7.904256554392771e-05,-0.0003052202916904036,-5.2101796868184016e-05,-0.00014059651545356592,0.0005330789633972207,-0.0003003606817856508,-2.683053827555235e-05,-3.85070606735068e-05,0.0005595939521208451,3.7081987418572066e-11,2.4858505771421194e-12,6.293043714421666e-15,4.45386560969584e-11,-6.643720088726371e-10,-3.788813540663485e-11],"joint_position_rad":[-1.5698860038813889,-1.5994691588305685,1.6586674150428342,-1.6295907350588004,-1.5707936159221652,0.0009196167234242742],"joint_velocity_rad_s":[-0.00015213787625130358,-0.015504910689029773,-0.19830137830115085,0.20747582980918866,4.008952226796e-05,-7.904256554392771e-05],"linkage_position_rad":[0.0029528484700704744,0.0001561954214963302,0.0032125956666786445,-0.0034474227479214773,0.002952892488056584,0.0001564718152262985,0.0032178139475188936,-0.0034562121464215374],"tcp_position_m":[-0.1344367059615587,0.47890355282883884,0.30879278014017647],"tcp_quaternion_wxyz":[0.00014195483083657555,0.7071100528141991,0.7071034807112544,-0.00014361042442848998],"object_position_m":[-0.13444194837682613,0.47894614321212176,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3010321708118289e-12,-1.9407901905833227e-11,-1.5519196382282088e-12],"object_linear_velocity_m_s":[3.7081987418572066e-11,2.4858505771421194e-12,6.293043714421666e-15],"object_angular_velocity_rad_s":[4.453865609636695e-11,-6.643720088726768e-10,-3.7888135406634784e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313331167398316,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698879129755212,-1.6121236255140972,1.6091528351259454,-1.5931670629285102,-1.5707804173500841,0.0009039278765905107,0.0],"actuator_force":[0.057036962235997635,-19.106969091445535,-19.70860851331736,-2.535746915773757,0.002590333813827783,5.98331375109562e-05,-0.29225914303897266],"issued_joint_targets_rad":[-1.5698974134923995,-1.6023395684399717,1.615373099845065,-1.584038257535955,-1.5707817847047307,0.0008989586798100556],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.239999999999754,"joint_targets_rad":[-1.5698974134923995,-1.6023395684399717,1.615373099845065,-1.584038257535955,-1.5707817847047307,0.0008989586798100556],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.259999999999752,"qpos":[-1.5698863411394006,-1.599746793631248,1.6545546115889054,-1.625263293721505,-1.5707925004886492,0.0009176597011743788,0.00294926842508327,0.00015610507611697356,0.0032095976359536316,-0.0034436060286030237,0.0029492946449994634,0.00015636943479075606,0.0032149368462641857,-0.003452109324787275,-0.13444194837628604,0.4789461432121579,0.2998922445797836,1.0,1.1561651985595223e-12,-1.7246762913314562e-11,-1.728172842933485e-12],"qvel":[-0.00012668215594892828,-0.014677843367205333,-0.19897378208740482,0.2073352854047975,4.3745865001842346e-05,-9.435041287430221e-05,-0.0002744166931753073,-3.186548126186622e-05,-0.00016933173230027497,0.00039441434300712194,-0.000269084580275303,-6.337764524870011e-06,-7.97796163880161e-05,0.0003998320694730451,4.7220132407223696e-11,3.1655140047472402e-12,6.297207050764012e-15,1.0143579112029096e-10,-1.5130805738239027e-09,-6.917384508992893e-11],"joint_position_rad":[-1.5698863411394006,-1.599746793631248,1.6545546115889054,-1.625263293721505,-1.5707925004886492,0.0009176597011743788],"joint_velocity_rad_s":[-0.00012668215594892828,-0.014677843367205333,-0.19897378208740482,0.2073352854047975,4.3745865001842346e-05,-9.435041287430221e-05],"linkage_position_rad":[0.00294926842508327,0.00015610507611697356,0.0032095976359536316,-0.0034436060286030237,0.0029492946449994634,0.00015636943479075606,0.0032149368462641857,-0.003452109324787275],"tcp_position_m":[-0.13443682633835716,0.47889982102730555,0.31051392970416936],"tcp_quaternion_wxyz":[0.00011926754394955824,0.7071094843265218,0.7071040574957579,-0.00012175290212358141],"object_position_m":[-0.13444194837628604,0.4789461432121579,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1561651985595223e-12,-1.7246762913314562e-11,-1.728172842933485e-12],"object_linear_velocity_m_s":[4.7220132407223696e-11,3.1655140047472402e-12,6.297207050764012e-15],"object_angular_velocity_rad_s":[1.0143579111744729e-10,-1.5130805738240934e-09,-6.917384508992878e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313349902460762,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698928973315538,-1.6121987258207866,1.6049201335476722,-1.5888587228259037,-1.5707802981933687,0.0008989554602573794,0.0],"actuator_force":[0.037560478073373815,-19.032727032194998,-19.679443247504423,-2.5312430926790057,0.0017265611401171554,8.292082893052166e-05,-0.29221064713688366],"issued_joint_targets_rad":[-1.5698975172544507,-1.6024004948971535,1.6111016416746724,-1.579706500442205,-1.5707816439703415,0.0008988512707955441],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.259999999999752,"joint_targets_rad":[-1.5698975172544507,-1.6024004948971535,1.6111016416746724,-1.579706500442205,-1.5707816439703415,0.0008988512707955441],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.27999999999975,"qpos":[-1.5698864174846838,-1.6000046292702257,1.6504268024946993,-1.620935925511058,-1.570791448213336,0.0009158569745333824,0.0029463120602740223,0.00015610718869833682,0.0032067176346238777,-0.003440825080546717,0.0029463368185665586,0.00015637373341434297,0.003212077542497938,-0.0034493129831163287,-0.13444194837570037,0.47894614321219725,0.2998922445797836,1.0,1.1589029706592574e-12,-1.7287395363416427e-11,-1.990565711617305e-12],"qvel":[-0.00012774314138067655,-0.013683152216656896,-0.1996989089917841,0.2073557135410527,3.9618804505256575e-05,-8.579141744502403e-05,-0.00024537134521173526,-3.223544452145855e-05,-0.00014768565562441765,0.00036996400186304674,-0.00023962848053307056,-5.999998882150143e-06,-5.771034572878489e-05,0.00037195921135198213,2.1269287513818133e-11,1.4258349750527538e-12,6.304145944667921e-15,-4.3287944230194234e-11,6.457361205664294e-10,-7.49442204123799e-12],"joint_position_rad":[-1.5698864174846838,-1.6000046292702257,1.6504268024946993,-1.620935925511058,-1.570791448213336,0.0009158569745333824],"joint_velocity_rad_s":[-0.00012774314138067655,-0.013683152216656896,-0.1996989089917841,0.2073557135410527,3.9618804505256575e-05,-8.579141744502403e-05],"linkage_position_rad":[0.0029463120602740223,0.00015610718869833682,0.0032067176346238777,-0.003440825080546717,0.0029463368185665586,0.00015637373341434297,0.003212077542497938,-0.0034493129831163287],"tcp_position_m":[-0.13443705511562334,0.4788956186441803,0.31223335891950277],"tcp_quaternion_wxyz":[9.827307154583436e-05,0.7071088771842158,0.7071046710630888,-0.00010154034470289402],"object_position_m":[-0.13444194837570037,0.47894614321219725,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1589029706592574e-12,-1.7287395363416427e-11,-1.990565711617305e-12],"object_linear_velocity_m_s":[2.1269287513818133e-11,1.4258349750527538e-12,6.304145944667921e-15],"object_angular_velocity_rad_s":[-4.328794422736435e-11,6.457361205666191e-10,-7.494422041237971e-12],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313375792872573,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698930112545981,-1.6122563371901917,1.6006464755757053,-1.5845271401563557,-1.5707801539679906,0.0008988481440676192,0.0],"actuator_force":[0.037909716723333986,-19.030154953269175,-19.681090241274433,-2.5311786767540525,0.0016852422221518282,7.472651162082622e-05,-0.292207444813305],"issued_joint_targets_rad":[-1.5698973795818403,-1.6024437554897597,1.6068121408032425,-1.5753743772628135,-1.5707815026536007,0.0008989850404622748],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.27999999999975,"joint_targets_rad":[-1.5698973795818403,-1.6024437554897597,1.6068121408032425,-1.5753743772628135,-1.5707815026536007,0.0008989850404622748],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2999999999997476,"qpos":[-1.5698864744692917,-1.6002419536365087,1.6462837596500424,-1.6166080907476656,-1.5707904815039275,0.0009142387274132354,0.0029438880825383624,0.00015610702948619002,0.0032043119024066802,-0.003438523073758012,0.0029439131574868645,0.0001563767107494461,0.0032096842303295653,-0.0034470093610074466,-0.13444194837510207,0.47894614321223733,0.2998922445797836,1.0,1.2226812982488992e-12,-1.8238588553700384e-11,-2.326353786064339e-12],"qvel":[-0.0001303048334598121,-0.012693208892098299,-0.20043387002220234,0.2073779795061183,3.55093735747737e-05,-7.694227529242305e-05,-0.00022104428390678544,-3.229114770428675e-05,-0.00012341561734368738,0.00034707752922978277,-0.0002152501061219798,-5.821979433444027e-06,-3.265123489488095e-05,0.00034929504424225814,2.3066654900066778e-11,1.5463430771117521e-12,6.29581927198323e-15,-3.417110933606405e-11,5.097354137836207e-10,-1.3682933170675452e-11],"joint_position_rad":[-1.5698864744692917,-1.6002419536365087,1.6462837596500424,-1.6166080907476656,-1.5707904815039275,0.0009142387274132354],"joint_velocity_rad_s":[-0.0001303048334598121,-0.012693208892098299,-0.20043387002220234,0.2073779795061183,3.55093735747737e-05,-7.694227529242305e-05],"linkage_position_rad":[0.0029438880825383624,0.00015610702948619002,0.0032043119024066802,-0.003438523073758012,0.0029439131574868645,0.0001563767107494461,0.0032096842303295653,-0.0034470093610074466],"tcp_position_m":[-0.1344372709310012,0.4788910329105783,0.31395075683567386],"tcp_quaternion_wxyz":[7.934155845469076e-05,0.7071083275692991,0.7071052254394452,-8.332644436334478e-05],"object_position_m":[-0.13444194837510207,0.47894614321223733,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2226812982488992e-12,-1.8238588553700384e-11,-2.326353786064339e-12],"object_linear_velocity_m_s":[2.3066654900066778e-11,1.5463430771117521e-12,6.29581927198323e-15],"object_angular_velocity_rad_s":[-3.4171109333193285e-11,5.097354137838132e-10,-1.368293317067543e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313397645299977,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698928832882013,-1.6122965326139165,1.5963549609030503,-1.5801951714756475,-1.5707800094431663,0.0008989819977716761,0.0],"actuator_force":[0.03930429556476156,-19.03187439797648,-19.68404948510306,-2.5313383146026354,0.0016850930231839811,6.586270846264952e-05,-0.2922085900511175],"issued_joint_targets_rad":[-1.5698972408088416,-1.6024693501544411,1.6025059014890932,-1.5710431829079972,-1.5707813619887452,0.000899120266356696],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.2999999999997476,"joint_targets_rad":[-1.5698972408088416,-1.6024693501544411,1.6025059014890932,-1.5710431829079972,-1.5707813619887452,0.000899120266356696],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3199999999997454,"qpos":[-1.5698865259968315,-1.6004589954394564,1.6421253385748884,-1.612279897562166,-1.5707895937544247,0.0009127885500040457,0.0029419039658942028,0.00015610727292138238,0.0032023407833627064,-0.0034366403644584854,0.0029419293011727823,0.0001563798783209625,0.0032077243684071545,-0.0034451239730619505,-0.134441948374483,0.4789461432122789,0.2998922445797836,1.0,1.3317724436190368e-12,-1.9865980073410377e-11,-2.751990443327761e-12],"qvel":[-0.00013297046934417298,-0.011716289214057285,-0.20117558557855358,0.20739375583941105,3.1773011297015036e-05,-6.893448900727708e-05,-0.0002010746491825338,-3.237011164351728e-05,-0.0001029365824683595,0.00032824758145129476,-0.00019522884193561105,-5.64307272065805e-06,-1.1249923785698214e-05,0.0003305572585553915,2.6253781863707016e-11,1.7599948193357493e-12,6.297207050764012e-15,-2.160678339279852e-11,3.2229852117009416e-10,-2.498152997624708e-11],"joint_position_rad":[-1.5698865259968315,-1.6004589954394564,1.6421253385748884,-1.612279897562166,-1.5707895937544247,0.0009127885500040457],"joint_velocity_rad_s":[-0.00013297046934417298,-0.011716289214057285,-0.20117558557855358,0.20739375583941105,3.1773011297015036e-05,-6.893448900727708e-05],"linkage_position_rad":[0.0029419039658942028,0.00015610727292138238,0.0032023407833627064,-0.0034366403644584854,0.0029419293011727823,0.0001563798783209625,0.0032077243684071545,-0.0034451239730619505],"tcp_position_m":[-0.13443746886821484,0.4788861232395798,0.31566628659541773],"tcp_quaternion_wxyz":[6.230033224839574e-05,0.7071078347764407,0.707105721681705,-6.694353350195544e-05],"object_position_m":[-0.134441948374483,0.4789461432122789,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3317724436190368e-12,-1.9865980073410377e-11,-2.751990443327761e-12],"object_linear_velocity_m_s":[2.6253781863707016e-11,1.7599948193357493e-12,6.297207050764012e-15],"object_angular_velocity_rad_s":[-2.160678339003203e-11,3.222985211702796e-10,-2.4981529976247103e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313415560625796,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892753474548,-1.612319309521412,1.5920468928360878,-1.5758641128208337,-1.570779865833303,0.0008991172994226563,0.0],"actuator_force":[0.04073323230477399,-19.03411247828808,-19.686657246179948,-2.53148321327501,0.0016866594312432426,5.7823610032980977e-05,-0.2922101458977585],"issued_joint_targets_rad":[-1.5698971133134618,-1.6024772857827034,1.5981829286707174,-1.5667129155799222,-1.5707812218935937,0.0008992445702587869],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.3199999999997454,"joint_targets_rad":[-1.5698971133134618,-1.6024772857827034,1.5981829286707174,-1.5667129155799222,-1.5707812218935937,0.0008992445702587869],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.339999999999743,"qpos":[-1.5698865732242342,-1.6006560098319422,1.637951407216403,-1.6079514707808302,-1.5707887775277387,0.0009114893436850498,0.002940280286004864,0.00015610736567739212,0.003200728382854303,-0.0034350998944955745,0.0029403058792702866,0.0001563828915921125,0.003206123123283582,-0.003443580868299677,-0.13444194837387,0.47894614321232004,0.2998922445797836,1.0,1.3806500407115538e-12,-2.0595637774799388e-11,-3.2187409972427157e-12],"qvel":[-0.0001356619794812215,-0.010751626810246679,-0.20192358024862544,0.2074035657965366,2.839449287149411e-05,-6.174441330940485e-05,-0.00018472347950388996,-3.245973446768303e-05,-8.60235965232549e-05,0.000312908529494371,-0.00017882523044998683,-5.474252984705001e-06,6.5954813853330605e-06,0.0003153073522242526,3.0371886495474554e-11,2.0360000104814416e-12,6.2944314932024484e-15,4.328897035386904e-13,-6.509990345635784e-12,-4.561015729624703e-11],"joint_position_rad":[-1.5698865732242342,-1.6006560098319422,1.637951407216403,-1.6079514707808302,-1.5707887775277387,0.0009114893436850498],"joint_velocity_rad_s":[-0.0001356619794812215,-0.010751626810246679,-0.20192358024862544,0.2074035657965366,2.839449287149411e-05,-6.174441330940485e-05],"linkage_position_rad":[0.002940280286004864,0.00015610736567739212,0.003200728382854303,-0.0034350998944955745,0.0029403058792702866,0.0001563828915921125,0.003206123123283582,-0.003443580868299677],"tcp_position_m":[-0.13443765032285845,0.4788809417224575,0.31738011933327415],"tcp_quaternion_wxyz":[4.696556165384294e-05,0.7071073933181639,0.7071061655669454,-5.2213387350373446e-05],"object_position_m":[-0.13444194837387,0.47894614321232004,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3806500407115538e-12,-2.0595637774799388e-11,-3.2187409972427157e-12],"object_linear_velocity_m_s":[3.0371886495474554e-11,2.0360000104814416e-12,6.2944314932024484e-15],"object_angular_velocity_rad_s":[4.3288970537552304e-13,-6.509990345512628e-12,-4.5610157296247174e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313430195838662,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698926342423485,-1.6123246703497853,1.587722275137948,-1.5715339641645065,-1.5707797230315708,0.0008992416715918103,0.0],"actuator_force":[0.04214275556341818,-19.036670311587386,-19.68883205745942,-2.53160327149169,0.0016877987967518493,5.060528432071498e-05,-0.2922115647139881],"issued_joint_targets_rad":[-1.5698969972948076,-1.6024675684658622,1.5938431515998766,-1.5623834990881087,-1.5707810822293544,0.0008993577224439778],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.339999999999743,"joint_targets_rad":[-1.5698969972948076,-1.6024675684658622,1.5938431515998766,-1.5623834990881087,-1.5707810822293544,0.0008993577224439778],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.359999999999741,"qpos":[-1.56988661661745,-1.6008332301386394,1.6337618396550377,-1.6036229172867957,-1.5707880260049278,0.00091032556930289,0.0029389517525250067,0.00015610727299274972,0.003199409916384122,-0.0034338394027981518,0.0029389776020572822,0.00015638570526756404,0.0032048157543939286,-0.003442317730897833,-0.13444194837327297,0.47894614321236006,0.2998922445797836,1.0,1.357305589983899e-12,-2.0247670112399396e-11,-3.707612183071951e-12],"qvel":[-0.0001383759071496897,-0.0097980711773163,-0.2026775720311697,0.20740833783037688,2.5341224391484242e-05,-5.52947312590867e-05,-0.00017133724454564806,-3.2547769336032616e-05,-7.205127230863313e-05,0.00030038511960837406,-0.00016538651776622693,-5.303430805823656e-06,2.150293351533705e-05,0.0003028748517232934,3.627611140982518e-11,2.4317734890922983e-12,6.2944314932024484e-15,3.577684094242872e-11,-5.337165191727829e-10,-8.327236227846708e-11],"joint_position_rad":[-1.56988661661745,-1.6008332301386394,1.6337618396550377,-1.6036229172867957,-1.5707880260049278,0.00091032556930289],"joint_velocity_rad_s":[-0.0001383759071496897,-0.0097980711773163,-0.2026775720311697,0.20740833783037688,2.5341224391484242e-05,-5.52947312590867e-05],"linkage_position_rad":[0.0029389517525250067,0.00015610727299274972,0.003199409916384122,-0.0034338394027981518,0.0029389776020572822,0.00015638570526756404,0.0032048157543939286,-0.003442317730897833],"tcp_position_m":[-0.13443781685843126,0.4788755350013533,0.3190924106667262],"tcp_quaternion_wxyz":[3.316988012839624e-05,0.7071069979840666,0.7071065625369096,-3.897377539305175e-05],"object_position_m":[-0.13444194837327297,0.47894614321236006,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.357305589983899e-12,-2.0247670112399396e-11,-3.707612183071951e-12],"object_linear_velocity_m_s":[3.627611140982518e-11,2.4317734890922983e-12,6.2944314932024484e-15],"object_angular_velocity_rad_s":[3.5776840941843235e-11,-5.337165191728222e-10,-8.327236227846712e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313442139784037,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698925258528986,-1.612312617041349,1.58338103598583,-1.5672046509527373,-1.5707795808764609,0.0008993548852860549,0.0],"actuator_force":[0.04353189196262974,-19.039545334492686,-19.69057852594733,-2.531700616008493,0.0016884417943856533,4.4131117491130745e-05,-0.2922128489175551],"issued_joint_targets_rad":[-1.5698968925457506,-1.6024402031864455,1.5894864936707669,-1.5580548524704099,-1.5707809428673667,0.0008994599007317547],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.359999999999741,"joint_targets_rad":[-1.5698968925457506,-1.6024402031864455,1.5894864936707669,-1.5580548524704099,-1.5707809428673667,0.0008994599007317547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3799999999997388,"qpos":[-1.5698866566361878,-1.6009908673886581,1.6295565150029179,-1.5992943258571206,-1.5707873330040876,0.0009092831923010411,0.002937864881194634,0.00015610702653729024,0.003198332160248981,-0.0034328081443174203,0.00293789098496271,0.00015638835170523092,0.00320374904782098,-0.0034412838107387646,-0.1344419483727059,0.4789461432123981,0.2998922445797836,1.0,1.2413646966681094e-12,-1.851817897033071e-11,-4.174900301834318e-12],"qvel":[-0.00014111359007942806,-0.008854554716922045,-0.20343732331900005,0.20740893856211004,2.2582630431966012e-05,-4.951365677926847e-05,-0.0001603798884526838,-3.263436214934379e-05,-6.048902639671334e-05,0.0002901686859665449,-0.00015437655059697458,-5.13039280468401e-06,3.4003091941002825e-05,0.00029274934896437603,4.568629789027728e-11,3.062570387498009e-12,6.2930437144216675e-15,8.899290495448613e-11,-1.327576086076343e-09,-1.520338201967912e-10],"joint_position_rad":[-1.5698866566361878,-1.6009908673886581,1.6295565150029179,-1.5992943258571206,-1.5707873330040876,0.0009092831923010411],"joint_velocity_rad_s":[-0.00014111359007942806,-0.008854554716922045,-0.20343732331900005,0.20740893856211004,2.2582630431966012e-05,-4.951365677926847e-05],"linkage_position_rad":[0.002937864881194634,0.00015610702653729024,0.003198332160248981,-0.0034328081443174203,0.00293789098496271,0.00015638835170523092,0.00320374904782098,-0.0034412838107387646],"tcp_position_m":[-0.13443796987411152,0.4788699449333028,0.32080330098243703],"tcp_quaternion_wxyz":[2.0762225358498107e-05,0.7071066440691586,0.7071069174806223,-2.707828861098846e-05],"object_position_m":[-0.1344419483727059,0.4789461432123981,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2413646966681094e-12,-1.851817897033071e-11,-4.174900301834318e-12],"object_linear_velocity_m_s":[4.568629789027728e-11,3.062570387498009e-12,6.2930437144216675e-15],"object_angular_velocity_rad_s":[8.899290494903191e-11,-1.3275760860767087e-09,-1.5203382019679126e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313451879424856,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698924281557067,-1.6122831508197166,1.5790230978058644,-1.562876093700649,-1.5707794392187113,0.0008994571189853165,0.0],"actuator_force":[0.04490239699407539,-19.042744975347887,-19.691905066506934,-2.531777777975094,0.0016886296448319627,3.8329020064564734e-05,-0.2922140111126189],"issued_joint_targets_rad":[-1.569896798832565,-1.6023951937033454,1.58511287616637,-1.5537268938308435,-1.5707808036900037,0.0008995513118672988],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.3799999999997388,"joint_targets_rad":[-1.569896798832565,-1.6023951937033454,1.58511287616637,-1.5537268938308435,-1.5707808036900037,0.0008995513118672988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3999999999997366,"qpos":[-1.5698866937623124,-1.6011291122515372,1.6253353166967466,-1.594965768748861,-1.570786692925504,0.0009083495430857468,0.0029369758602414485,0.000156106651812388,0.0031974514963357677,-0.003431964542476791,0.0029370022164951475,0.00015639085853260356,0.00320287939338457,-0.003440437534421132,-0.13444194837212223,0.4789461432124372,0.2998922445797836,1.0,1.180694344095375e-12,-1.761316348042485e-11,-4.7516007990876405e-12],"qvel":[-0.00014387605116645275,-0.00792010767792122,-0.20420262971723166,0.20740615528345444,2.0090964295951414e-05,-4.4336151545968676e-05,-0.00015141216332900995,-3.271978002957687e-05,-5.089979943605597e-05,0.00028184253091954664,-0.00014535607452683123,-4.955393313576444e-06,4.453303473924784e-05,0.00028451423116081394,2.1590538973257798e-11,1.4473166961621993e-12,6.295819271983232e-15,-4.627216733293938e-11,6.902707795958787e-10,-1.6471625711094354e-11],"joint_position_rad":[-1.5698866937623124,-1.6011291122515372,1.6253353166967466,-1.594965768748861,-1.570786692925504,0.0009083495430857468],"joint_velocity_rad_s":[-0.00014387605116645275,-0.00792010767792122,-0.20420262971723166,0.20740615528345444,2.0090964295951414e-05,-4.4336151545968676e-05],"linkage_position_rad":[0.0029369758602414485,0.000156106651812388,0.0031974514963357677,-0.003431964542476791,0.0029370022164951475,0.00015639085853260356,0.00320287939338457,-0.003440437534421132],"tcp_position_m":[-0.1344381106056665,0.47886420911759797,0.3225129168564569],"tcp_quaternion_wxyz":[9.606322994207114e-06,0.7071063273392872,0.707107234778199,-1.6394865323701232e-05],"object_position_m":[-0.13444194837212223,0.4789461432124372,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.180694344095375e-12,-1.761316348042485e-11,-4.7516007990876405e-12],"object_linear_velocity_m_s":[2.1590538973257798e-11,1.4473166961621993e-12,6.295819271983232e-15],"object_angular_velocity_rad_s":[-4.627216732579936e-11,6.902707795963574e-10,-1.6471625711094354e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313459813935797,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698923409678474,-1.6122362720454027,1.5746483810095997,-1.5585482118438467,-1.5707792979220356,0.000899548580030242,0.0],"actuator_force":[0.046256009396984155,-19.046276516562557,-19.69281948740081,-2.5318370758383253,0.0016884053047760972,3.313362684448373e-05,-0.29221506264755065],"issued_joint_targets_rad":[-1.5698967159228046,-1.60233254252411,1.580722218337175,-1.5493995404498562,-1.5707806645895577,0.0008996321635667407],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.3999999999997366,"joint_targets_rad":[-1.5698967159228046,-1.60233254252411,1.580722218337175,-1.5493995404498562,-1.5707806645895577,0.0008996321635667407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4199999999997344,"qpos":[-1.5698867284911118,-1.6012481369093432,1.6210981318661302,-1.5906373032176695,-1.5707861006969193,0.0009075131864133223,0.002936248803559135,0.0001561061699544102,0.0031967321953142885,-0.0034312745430291882,0.00293627541079057,0.00015639324874864837,0.003202171068579464,-0.0034397448497220265,-0.1344419483714981,0.4789461432124791,0.2998922445797836,1.0,1.2531291915869254e-12,-1.8693924160382006e-11,-5.583151260594448e-12],"qvel":[-0.0001466638454369616,-0.006993849708494832,-0.2049733169496872,0.20740070282739964,1.7841097651301454e-05,-3.970340700942167e-05,-0.00014407416877583313,-3.2804227862730386e-05,-4.292525288232288e-05,0.00027506505304233486,-0.00013796518433391005,-4.778617642342107e-06,5.34511711975936e-05,0.00027782793845009137,2.340636356903679e-11,1.569022991933403e-12,6.295819271983231e-15,-3.8240350160971483e-11,5.704520907992547e-10,-3.0072932248310946e-11],"joint_position_rad":[-1.5698867284911118,-1.6012481369093432,1.6210981318661302,-1.5906373032176695,-1.5707861006969193,0.0009075131864133223],"joint_velocity_rad_s":[-0.0001466638454369616,-0.006993849708494832,-0.2049733169496872,0.20740070282739964,1.7841097651301454e-05,-3.970340700942167e-05],"linkage_position_rad":[0.002936248803559135,0.0001561061699544102,0.0031967321953142885,-0.0034312745430291882,0.00293627541079057,0.00015639324874864837,0.003202171068579464,-0.0034397448497220265],"tcp_position_m":[-0.1344382401440661,0.47885836136308135,0.3242213724014985],"tcp_quaternion_wxyz":[-4.207563403259189e-07,0.7071060439857175,0.7071075183537443,-6.804389980243386e-06],"object_position_m":[-0.1344419483714981,0.4789461432124791,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2531291915869254e-12,-1.8693924160382006e-11,-5.583151260594448e-12],"object_linear_velocity_m_s":[2.340636356903679e-11,1.569022991933403e-12,6.295819271983231e-15],"object_angular_velocity_rad_s":[-3.824035015347728e-11,5.704520907997571e-10,-3.007293224831097e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313466270310526,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698922641023756,-1.612171980155689,1.5702568040631815,-1.5542209238628883,-1.5707791568618246,0.0008996294766737953,0.0],"actuator_force":[0.047594315647529584,-19.050146609293733,-19.69332882602248,-2.5318806053494427,0.0016878077822184423,2.8485831178648446e-05,-0.2922160139519365],"issued_joint_targets_rad":[-1.5698966435913093,-1.6022522508956936,1.5763144373856715,-1.5450727087823466,-1.5707805254671752,0.0008997026583675704],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.4199999999997344,"joint_targets_rad":[-1.5698966435913093,-1.6022522508956936,1.5763144373856715,-1.5450727087823466,-1.5707805254671752,0.0008997026583675704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.439999999999732,"qpos":[-1.5698867613228578,-1.601348096751404,1.6168448507612465,-1.5863089728922695,-1.5707855517236913,0.0009067638026036725,0.0029356543186520203,0.00015610559845947056,0.0031961449925721024,-0.0034307102551936904,0.0029356811755736475,0.00015639554156346504,0.0032015948150105754,-0.0034391778674528126,-0.1344419483708898,0.4789461432125198,0.2998922445797836,1.0,1.3031829429269757e-12,-1.9440723033097542e-11,-6.518634959191974e-12],"qvel":[-0.0001494771513113962,-0.00607498110662917,-0.20574923796682992,0.20739323058504375,1.5810276551462346e-05,-3.556227549318807e-05,-0.00013807104224736476,-3.288788038447864e-05,-3.627178032172976e-05,0.0002695564082389578,-0.00013190901205089502,-4.600218882007987e-06,6.105118723759723e-05,0.00027241065608950163,2.570120293720545e-11,1.7228454465704998e-12,6.299982608325576e-15,-2.421439954002118e-11,3.612201365586306e-10,-5.4905557953788995e-11],"joint_position_rad":[-1.5698867613228578,-1.601348096751404,1.6168448507612465,-1.5863089728922695,-1.5707855517236913,0.0009067638026036725],"joint_velocity_rad_s":[-0.0001494771513113962,-0.00607498110662917,-0.20574923796682992,0.20739323058504375,1.5810276551462346e-05,-3.556227549318807e-05],"linkage_position_rad":[0.0029356543186520203,0.00015610559845947056,0.0031961449925721024,-0.0034307102551936904,0.0029356811755736475,0.00015639554156346504,0.0032015948150105754,-0.0034391778674528126],"tcp_position_m":[-0.13443835945265564,0.47885243210540046,0.3259287704868885],"tcp_quaternion_wxyz":[-9.42990349552968e-06,0.7071057905832691,0.7071077717232673,1.8005753102485902e-06],"object_position_m":[-0.1344419483708898,0.4789461432125198,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3031829429269757e-12,-1.9440723033097542e-11,-6.518634959191974e-12],"object_linear_velocity_m_s":[2.570120293720545e-11,1.7228454465704998e-12,6.299982608325576e-15],"object_angular_velocity_rad_s":[-2.4214399533177048e-11,3.6122013655908936e-10,-5.4905557953789014e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931347151638483,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698921973748716,-1.6120902736256555,1.5658482834633218,-1.5498941472942394,-1.5707790159239152,0.0008997000119374405,0.0],"actuator_force":[0.04891875649718713,-19.054361305851216,-19.693439409117218,-2.5319102594893366,0.0016868722328808872,2.433221620279369e-05,-0.2922168744397921],"issued_joint_targets_rad":[-1.5698965816194685,-1.6021543187898466,1.571889448435049,-1.5407463144449414,-1.5707803862318757,0.0008997629942183974],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.439999999999732,"joint_targets_rad":[-1.5698965816194685,-1.6021543187898466,1.571889448435049,-1.5407463144449414,-1.5707803862318757,0.0008997629942183974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.45999999999973,"qpos":[-1.5698867927557916,-1.6014291319015324,1.6125753662345377,-1.5819808090146183,-1.5707850418436575,0.0009060920801652002,0.0029351683330761306,0.0001561049517916531,0.0031956659199916925,-0.0034302488375035924,0.0029351954386020785,0.00015639775301957233,0.0032011266702542643,-0.003438713747385389,-0.13444194837030005,0.47894614321255935,0.2998922445797836,1.0,1.318285494277037e-12,-1.9666500634109585e-11,-7.54447733952432e-12],"qvel":[-0.000152315838397775,-0.005162774826672442,-0.20653027037918575,0.2073843289109,1.3977897830708543e-05,-3.1864724864487714e-05,-0.00013316121413113697,-3.2970883317863764e-05,-3.06988259238109e-05,0.0002650873394982646,-0.00012694598252459792,-4.420320183456753e-06,6.757372261114056e-05,0.00026803315398026657,2.8987246370581472e-11,1.9430629588676364e-12,6.301370387106357e-15,-1.8302897468668322e-12,2.725643805898157e-11,-1.0024368290630941e-10],"joint_position_rad":[-1.5698867927557916,-1.6014291319015324,1.6125753662345377,-1.5819808090146183,-1.5707850418436575,0.0009060920801652002],"joint_velocity_rad_s":[-0.000152315838397775,-0.005162774826672442,-0.20653027037918575,0.2073843289109,1.3977897830708543e-05,-3.1864724864487714e-05],"linkage_position_rad":[0.0029351683330761306,0.0001561049517916531,0.0031956659199916925,-0.0034302488375035924,0.0029351954386020785,0.00015639775301957233,0.0032011266702542643,-0.003438713747385389],"tcp_position_m":[-0.1344384693824019,0.4788464487796347,0.3276352038392698],"tcp_quaternion_wxyz":[-1.752114961979557e-05,0.7071055640523857,0.7071079980374951,9.516935253424658e-06],"object_position_m":[-0.13444194837030005,0.47894614321255935,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.318285494277037e-12,-1.9666500634109585e-11,-7.54447733952432e-12],"object_linear_velocity_m_s":[2.8987246370581472e-11,1.9430629588676364e-12,6.301370387106357e-15],"object_angular_velocity_rad_s":[-1.8302897425126763e-12,2.7256438059273488e-11,-1.0024368290630954e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313475771524671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892140603188,-1.6119911499266768,1.5614227336984319,-1.545567798729206,-1.5707788750034601,0.0008997603842061083,0.0],"actuator_force":[0.050230640566041984,-19.058926119620082,-19.69315692053715,-2.5319277483838505,0.0016856303157055663,2.062450690287765e-05,-0.29221765260063176],"issued_joint_targets_rad":[-1.5698965297940084,-1.6020387448851692,1.5674471644880499,-1.536420272196436,-1.570780246799672,0.0008998133655354478],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.45999999999973,"joint_targets_rad":[-1.5698965297940084,-1.6020387448851692,1.5674471644880499,-1.536420272196436,-1.570780246799672,0.0008998133655354478],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4799999999997278,"qpos":[-1.5698868232803276,-1.601491368593364,1.6082895732702494,-1.5776528315579779,-1.5707845672862522,0.0009054896188112683,0.0029347711328309234,0.00015610424191620854,0.0031952753486588687,-0.0034298715850276705,0.0029347984860597556,0.00015639989653685888,0.003200747010618658,-0.0034383337855409596,-0.13444194836973383,0.47894614321259743,0.2998922445797836,1.0,1.280420202680436e-12,-1.9102068596492146e-11,-8.618938587817043e-12],"qvel":[-0.0001551795246600897,-0.004256569250483023,-0.2073163141900578,0.20737453493957297,1.23253063924866e-05,-2.8567343333320493e-05,-0.00012914678255080558,-3.30533584605572e-05,-2.6009303336632713e-05,0.0002614700396365749,-0.0001228781881765341,-4.239019469502488e-06,7.321595246450054e-05,0.0002645076487166427,3.415963867014771e-11,2.2897154929458133e-12,6.3013703871063564e-15,3.21923956158553e-11,-4.80322209245811e-10,-1.8301961570502234e-10],"joint_position_rad":[-1.5698868232803276,-1.601491368593364,1.6082895732702494,-1.5776528315579779,-1.5707845672862522,0.0009054896188112683],"joint_velocity_rad_s":[-0.0001551795246600897,-0.004256569250483023,-0.2073163141900578,0.20737453493957297,1.23253063924866e-05,-2.8567343333320493e-05],"linkage_position_rad":[0.0029347711328309234,0.00015610424191620854,0.0031952753486588687,-0.0034298715850276705,0.0029347984860597556,0.00015639989653685888,0.003200747010618658,-0.0034383337855409596],"tcp_position_m":[-0.13443857068543197,0.4788404361532049,0.3293407560356066],"tcp_quaternion_wxyz":[-2.478472956659948e-05,0.707105361624828,0.7071082001201259,1.6432093704576736e-05],"object_position_m":[-0.13444194836973383,0.47894614321259743,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.280420202680436e-12,-1.9102068596492146e-11,-8.618938587817043e-12],"object_linear_velocity_m_s":[3.415963867014771e-11,2.2897154929458133e-12,6.3013703871063564e-15],"object_angular_velocity_rad_s":[3.219239561456767e-11,-4.803222092458973e-10,-1.830196157050225e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313479215386047,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698920936066705,-1.6118746054841753,1.5569800672007574,-1.5412417938048777,-1.57077873400391,0.0008998107882893815,0.0],"actuator_force":[0.051531157178487774,-19.063846081428892,-19.69248646296046,-2.5319346174072734,0.0016841105317553229,1.7319072388610746e-05,-0.29221835609089725],"issued_joint_targets_rad":[-1.5698964879058726,-1.6019055265473419,1.5629874963844632,-1.5320944959183629,-1.5707801070927856,0.0008998539641848513],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.4799999999997278,"joint_targets_rad":[-1.5698964879058726,-1.6019055265473419,1.5629874963844632,-1.5320944959183629,-1.5707801070927856,0.0008998539641848513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4999999999997256,"qpos":[-1.569886853374327,-1.6015349204085556,1.6039873685567785,-1.5733250502346727,-1.5707841246354814,0.0009049488418675373,0.002934446574433835,0.000156103478737537,0.0031949572044626534,-0.003429563181461844,0.0029344741746330123,0.00015640198336312316,0.0032004397668001614,-0.003438022666337284,-0.13444194836917028,0.4789461432126352,0.2998922445797836,1.0,1.2446182371734503e-12,-1.8568156208414426e-11,-9.84223992052265e-12],"qvel":[-0.00015806762540454008,-0.003355761660761287,-0.20810728976108553,0.20736433783736483,1.0835611554859454e-05,-2.563089205967833e-05,-0.00012586562592881937,-3.313540791325642e-05,-2.2041743770142285e-05,0.0002585506646761223,-0.00011954350156913821,-4.0563938290835075e-06,7.813943830077701e-05,0.0002616803174377973,4.297468515627315e-11,2.8805868445630967e-12,6.3013703871063564e-15,8.150417303083285e-11,-1.2159415385735327e-09,-3.3414814196551836e-10],"joint_position_rad":[-1.569886853374327,-1.6015349204085556,1.6039873685567785,-1.5733250502346727,-1.5707841246354814,0.0009049488418675373],"joint_velocity_rad_s":[-0.00015806762540454008,-0.003355761660761287,-0.20810728976108553,0.20736433783736483,1.0835611554859454e-05,-2.563089205967833e-05],"linkage_position_rad":[0.002934446574433835,0.000156103478737537,0.0031949572044626534,-0.003429563181461844,0.0029344741746330123,0.00015640198336312316,0.0032004397668001614,-0.003438022666337284],"tcp_position_m":[-0.13443866402703852,0.4788344166233628,0.3310455023990363],"tcp_quaternion_wxyz":[-3.130204119664066e-05,0.7071051808126706,0.707108380502011,2.2624884863687428e-05],"object_position_m":[-0.13444194836917028,0.4789461432126352,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2446182371734503e-12,-1.8568156208414426e-11,-9.84223992052265e-12],"object_linear_velocity_m_s":[4.297468515627315e-11,2.8805868445630967e-12,6.3013703871063564e-15],"object_angular_velocity_rad_s":[8.15041730193067e-11,-1.2159415385743053e-09,-3.3414814196551836e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313481995092708,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698920562054244,-1.6117406356358899,1.5525201942979179,-1.5369160471941599,-1.570778592836106,0.0008998514164080085,0.0],"actuator_force":[0.05282138796746949,-19.06912579036407,-19.691432613286906,-2.53193226348003,0.001682338532191352,1.4376476203392663e-05,-0.2922189918158526],"issued_joint_targets_rad":[-1.5698964557491817,-1.6017546598074297,1.5585103527573787,-1.5277688985959403,-1.5707799670389475,0.000899884980388893],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.4999999999997256,"joint_targets_rad":[-1.5698964557491817,-1.6017546598074297,1.5585103527573787,-1.5277688985959403,-1.5707799670389475,0.000899884980388893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5199999999997234,"qpos":[-1.5698868834992834,-1.6015598893911338,1.5996686500974178,-1.5689974654042735,-1.5707837107963878,0.000904462917162735,0.002934181439319606,0.00015610267045927778,0.0031946983253786933,-0.003429311086335541,0.002934209285911466,0.00015640402294518613,0.003200191781207583,-0.0034377678498270724,-0.13444194836860945,0.47894614321267276,0.2998922445797836,1.0,1.1593541955148033e-12,-1.729614083837744e-11,-1.1109743394286476e-11],"qvel":[-0.00016097939512006926,-0.0024598023467378057,-0.20890313598660581,0.20735418354265034,9.49352066067431e-06,-2.3019900994778356e-05,-0.0001231849397097082,-3.321711769979844e-05,-1.866386208438683e-05,0.0002562031969920191,-0.00011680911214188073,-3.872503170543108e-06,8.247656216533046e-05,0.00025942516231003827,2.1064129894490605e-11,1.4119229226685922e-12,6.294431493202448e-15,-4.629937718563708e-11,6.907286696472513e-10,-3.6202224381241333e-11],"joint_position_rad":[-1.5698868834992834,-1.6015598893911338,1.5996686500974178,-1.5689974654042735,-1.5707837107963878,0.000904462917162735],"joint_velocity_rad_s":[-0.00016097939512006926,-0.0024598023467378057,-0.20890313598660581,0.20735418354265034,9.49352066067431e-06,-2.3019900994778356e-05],"linkage_position_rad":[0.002934181439319606,0.00015610267045927778,0.0031946983253786933,-0.003429311086335541,0.002934209285911466,0.00015640402294518613,0.003200191781207583,-0.0034377678498270724],"tcp_position_m":[-0.1344387499963279,0.4788284104831167,0.3327495108070454],"tcp_quaternion_wxyz":[-3.71465107760217e-05,0.7071050193803005,0.7071085414517168,2.8166413243882453e-05],"object_position_m":[-0.13444194836860945,0.47894614321267276,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1593541955148033e-12,-1.729614083837744e-11,-1.1109743394286476e-11],"object_linear_velocity_m_s":[2.1064129894490605e-11,1.4119229226685922e-12,6.294431493202448e-15],"object_angular_velocity_rad_s":[-4.6299377169037124e-11,6.90728669648364e-10,-3.6202224381241333e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348423111752,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698920282196203,-1.6115892345903438,1.5480430231638778,-1.5325904725952493,-1.5707784514174699,0.0008998824591039632,0.0],"actuator_force":[0.05410231737414506,-19.07476945972485,-19.689999472438103,-2.5319219497529275,0.0016803373929406007,1.1761070091986792e-05,-0.2922195660022957],"issued_joint_targets_rad":[-1.5698964331202458,-1.6015861393381754,1.5540156399875997,-1.5234433922989157,-1.57077982657077,0.0008999066035851389],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.5199999999997234,"joint_targets_rad":[-1.5698964331202458,-1.6015861393381754,1.5540156399875997,-1.5234433922989157,-1.57077982657077,0.0008999066035851389],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.539999999999721,"qpos":[-1.5698869140972764,-1.6015663670499738,1.5953333168555135,-1.564670068891861,-1.5707833229646782,0.0009040256855850225,0.0029339649048681095,0.00015610182388080978,0.003194487934856011,-0.003429105032914541,0.0029339929974172073,0.00015640602323556993,0.00319999228139406,-0.003437559069649391,-0.13444194836797152,0.47894614321271556,0.2998922445797836,1.0,1.2613398049774085e-12,-1.881766489415544e-11,-1.3167130106680079e-11],"qvel":[-0.00016391396308314214,-0.0015681892795789468,-0.20970380865881819,0.20734447904692813,8.285188380123273e-06,-2.0702303679384413e-05,-0.00012099593993368427,-3.329856057396398e-05,-1.5767284005012297e-05,0.00025432441986929894,-0.00011456622978052469,-3.6873930308950224e-06,8.633579951581986e-05,0.00025763898471322364,2.330858722271012e-11,1.562365761686257e-12,6.291655935640886e-15,-4.0660954028847096e-11,6.066074781408012e-10,-6.60961732422496e-11],"joint_position_rad":[-1.5698869140972764,-1.6015663670499738,1.5953333168555135,-1.564670068891861,-1.5707833229646782,0.0009040256855850225],"joint_velocity_rad_s":[-0.00016391396308314214,-0.0015681892795789468,-0.20970380865881819,0.20734447904692813,8.285188380123273e-06,-2.0702303679384413e-05],"linkage_position_rad":[0.0029339649048681095,0.00015610182388080978,0.003194487934856011,-0.003429105032914541,0.0029339929974172073,0.00015640602323556993,0.00319999228139406,-0.003437559069649391],"tcp_position_m":[-0.13443882911566313,0.47882243615900405,0.33445284242050977],"tcp_quaternion_wxyz":[-4.238437365570725e-05,0.7071048753191429,0.7071086850028607,3.312081134108829e-05],"object_position_m":[-0.13444194836797152,0.47894614321271556,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2613398049774085e-12,-1.881766489415544e-11,-1.3167130106680079e-11],"object_linear_velocity_m_s":[2.330858722271012e-11,1.562365761686257e-12,6.291655935640886e-15],"object_angular_velocity_rad_s":[-4.066095401038499e-11,6.066074781420388e-10,-6.609617324224962e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486022101296,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698920094688162,-1.6114203953852215,1.5435484597686824,-1.5282649827201658,-1.5707783096712724,0.0008999041061030041,0.0],"actuator_force":[0.055374842153923964,-19.08078095866358,-19.68819071013513,-2.5319048188451916,0.001678127864806811,9.440626929257956e-06,-0.2922200842656948],"issued_joint_targets_rad":[-1.5698964198166163,-1.60139995842828,1.5495032621560962,-1.5191178881622167,-1.5707796856251846,0.0008999190232587088],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.539999999999721,"joint_targets_rad":[-1.5698964198166163,-1.60139995842828,1.5495032621560962,-1.5191178881622167,-1.5707796856251846,0.0008999190232587088],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.559999999999719,"qpos":[-1.5698869450999493,-1.6015544365626433,1.590981325486212,-1.5603428445845986,-1.5707829585790478,0.0009036315962570239,0.002933788135672587,0.00015610105685089385,0.003194316889547011,-0.003428937090576175,0.0029338164526426106,0.0001564079985357202,0.003199831771670022,-0.003437388407311176,-0.13444194836734272,0.4789461432127578,0.2998922445797836,1.0,1.3317743699623931e-12,-1.986897125550679e-11,-1.5492139980924673e-11],"qvel":[-0.00016690446482399586,-0.0006801322702998953,-0.21050939088852977,0.20733571141097912,7.205918729773392e-06,-1.8649160640789852e-05,-0.00011919398931553886,-3.3382789294641595e-05,-1.3227956717960428e-05,0.000252795169112632,-0.00011270927670975555,-3.4886868973666606e-06,8.989968712861841e-05,0.0002562193723235249,2.5771929065965606e-11,1.7274394870709238e-12,6.291655935640886e-15,-2.8664927998656884e-11,4.276268423680199e-10,-1.2067496133154975e-10],"joint_position_rad":[-1.5698869450999493,-1.6015544365626433,1.590981325486212,-1.5603428445845986,-1.5707829585790478,0.0009036315962570239],"joint_velocity_rad_s":[-0.00016690446482399586,-0.0006801322702998953,-0.21050939088852977,0.20733571141097912,7.205918729773392e-06,-1.8649160640789852e-05],"linkage_position_rad":[0.002933788135672587,0.00015610105685089385,0.003194316889547011,-0.003428937090576175,0.0029338164526426106,0.0001564079985357202,0.003199831771670022,-0.003437388407311176],"tcp_position_m":[-0.1344389020748696,0.4788164957389166,0.3361555248791088],"tcp_quaternion_wxyz":[-4.7055606293275265e-05,0.7071047466533068,0.7071088131524871,3.752617238168868e-05],"object_position_m":[-0.13444194836734272,0.4789461432127578,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3317743699623931e-12,-1.986897125550679e-11,-1.5492139980924673e-11],"object_linear_velocity_m_s":[2.5771929065965606e-11,1.7274394870709238e-12,6.291655935640886e-15],"object_angular_velocity_rad_s":[-2.8664927980611797e-11,4.276268423692295e-10,-1.2067496133154983e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487460081525,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569891999783457,-1.6112341097247571,1.5390364078632337,-1.5239394891148508,-1.5707781675259294,0.0008999165470754117,0.0],"actuator_force":[0.05665241891392725,-19.08729341610797,-19.68607889054465,-2.5318934062240714,0.0016749346862070524,7.391473272833071e-06,-0.2922207130856334],"issued_joint_targets_rad":[-1.5698964151994712,-1.6011961398937473,1.5449732207546003,-1.5147923648604629,-1.5707795441693844,0.0008999228657508388],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.559999999999719,"joint_targets_rad":[-1.5698964151994712,-1.6011961398937473,1.5449732207546003,-1.5147923648604629,-1.5707795441693844,0.0008999228657508388],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5799999999997167,"qpos":[-1.5698869772485673,-1.601524172303754,1.586612603728835,-1.5560157747571457,-1.5707826153466715,0.0009032756888038226,0.0029336439302777863,0.0001561003197877214,0.003194178183088964,-0.003428800230802416,0.0029336724636928077,0.00015640996344953455,0.0031997034577901915,-0.0034372488397274004,-0.13444194836672865,0.4789461432127989,0.2998922445797836,1.0,1.3638388302332386e-12,-2.0347507889137867e-11,-1.806161010375839e-11],"qvel":[-0.00016993371705148857,0.00020447505719855394,-0.21131959697994154,0.20732783902892113,6.2386501725212405e-06,-1.6832212070787303e-05,-0.0001177151769565078,-3.346997526934014e-05,-1.099007242673995e-05,0.0002515779066112558,-0.00011117482152735396,-3.285668511218449e-06,9.318952336349205e-05,0.00025511843118611674,2.8985609396524517e-11,1.9428282832655356e-12,6.294431493202449e-15,-8.286876511525375e-12,1.2362899678477184e-10,-2.203209029722025e-10],"joint_position_rad":[-1.5698869772485673,-1.601524172303754,1.586612603728835,-1.5560157747571457,-1.5707826153466715,0.0009032756888038226],"joint_velocity_rad_s":[-0.00016993371705148857,0.00020447505719855394,-0.21131959697994154,0.20732783902892113,6.2386501725212405e-06,-1.6832212070787303e-05],"linkage_position_rad":[0.0029336439302777863,0.0001561003197877214,0.003194178183088964,-0.003428800230802416,0.0029336724636928077,0.00015640996344953455,0.0031997034577901915,-0.0034372488397274004],"tcp_position_m":[-0.13443896911438455,0.4788105990595937,0.3378575953165246],"tcp_quaternion_wxyz":[-5.120663694239594e-05,0.7071046318989688,0.7071089273999368,4.1427219705399e-05],"object_position_m":[-0.13444194836672865,0.4789461432127989,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3638388302332386e-12,-2.0347507889137867e-11,-1.806161010375839e-11],"object_linear_velocity_m_s":[2.8985609396524517e-11,1.9428282832655356e-12,6.294431493202449e-15],"object_angular_velocity_rad_s":[-8.286876498093536e-12,1.2362899678567215e-10,-2.2032090297220252e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488605061776,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569891998539747,-1.6110303991011912,1.5345068686225765,-1.5196139708989123,-1.570778024940983,0.0008999204085628637,0.0],"actuator_force":[0.05793090446104543,-19.09424361775382,-19.683631420540678,-2.5318819737753984,0.00167133782701967,5.5810865993155545e-06,-0.2922213697061104],"issued_joint_targets_rad":[-1.569896419343304,-1.6009746867193284,1.5404254591719293,-1.5104667629839341,-1.5707794021580344,0.0008999180467498182],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.5799999999997167,"joint_targets_rad":[-1.569896419343304,-1.6009746867193284,1.5404254591719293,-1.5104667629839341,-1.5707794021580344,0.0008999180467498182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5999999999997145,"qpos":[-1.5698870111579297,-1.6014756421910117,1.582227057240992,-1.5516888382979537,-1.570782291194508,0.0009029534735831153,0.002933526360559158,0.00015609956327176453,0.003194066069384101,-0.003428688605474033,0.0029335551108391413,0.00015641191138038798,0.00319960174243579,-0.003437134508506249,-0.1344419483661356,0.4789461432128386,0.2998922445797836,1.0,1.3432410064535476e-12,-2.0040235145044178e-11,-2.0791638642664e-11],"qvel":[-0.00017298432752616255,0.0010858228362506947,-0.21213431032189836,0.2073210070677851,5.370286763814162e-06,-1.5229187964639863e-05,-0.00011650673666620364,-3.355786010060247e-05,-9.010451840003941e-06,0.0002506244738164577,-0.00010991054124157651,-3.0824302702037413e-06,9.622450685017668e-05,0.000254281660787623,3.381267402742638e-11,2.2663705371334116e-12,6.2944314932024484e-15,2.343006668838984e-11,-3.495594789110838e-10,-4.02250573712145e-10],"joint_position_rad":[-1.5698870111579297,-1.6014756421910117,1.582227057240992,-1.5516888382979537,-1.570782291194508,0.0009029534735831153],"joint_velocity_rad_s":[-0.00017298432752616255,0.0010858228362506947,-0.21213431032189836,0.2073210070677851,5.370286763814162e-06,-1.5229187964639863e-05],"linkage_position_rad":[0.002933526360559158,0.00015609956327176453,0.003194066069384101,-0.003428688605474033,0.0029335551108391413,0.00015641191138038798,0.00319960174243579,-0.003437134508506249],"tcp_position_m":[-0.13443903048345415,0.4788047608456592,0.3395590979381169],"tcp_quaternion_wxyz":[-5.488814701173132e-05,0.7071045296913883,0.7071090291204167,4.487307763155065e-05],"object_position_m":[-0.1344419483661356,0.4789461432128386,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3432410064535476e-12,-2.0040235145044178e-11,-2.0791638642664e-11],"object_linear_velocity_m_s":[3.381267402742638e-11,2.2663705371334116e-12,6.2944314932024484e-15],"object_angular_velocity_rad_s":[2.3430066689976406e-11,-3.4955947891097747e-10,-4.02250573712145e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489505811001,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698920058238146,-1.6108092653103678,1.5299597851332103,-1.5152883691440524,-1.5707778818641902,0.0008999156064701312,0.0],"actuator_force":[0.05920439924057064,-19.101575373212654,-19.680820086804033,-2.531866129827904,0.0016676364824661505,3.9852399719708664e-06,-0.2922219871803761],"issued_joint_targets_rad":[-1.5698964322531923,-1.6007355874692195,1.5358598753124966,-1.5061409922042712,-1.570779259535518,0.0008999045519751685],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.5999999999997145,"joint_targets_rad":[-1.5698964322531923,-1.6007355874692195,1.5358598753124966,-1.5061409922042712,-1.570779259535518,0.0008999045519751685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6199999999997123,"qpos":[-1.5698870471604418,-1.6014089073289186,1.5778245915233895,-1.54736200792422,-1.5707819842349886,0.0009026608894848043,0.0029334305550542516,0.00015609878677015821,0.003193975710303098,-0.003428597572487594,0.0029334595219485315,0.00015641384047231796,0.003199521786256451,-0.003437040765463099,-0.13444194836557283,0.4789461432128764,0.2998922445797836,1.0,1.24731094583067e-12,-1.8608947767256906e-11,-2.34802744708809e-11],"qvel":[-0.00017605386377564044,0.0019642782885485634,-0.21295356801569962,0.20731553507667883,4.592041278861367e-06,-1.3819652014276786e-05,-0.0001155197799053888,-3.364572415886832e-05,-7.241710313927306e-06,0.00024988359892527673,-0.00010886753353251255,-2.8779798767036774e-06,9.905292376724495e-05,0.00025365797481344905,4.1679003766787236e-11,2.7936734525159237e-12,6.290268156860105e-15,7.070762136221728e-11,-1.0548616067870778e-09,-7.344072998853169e-10],"joint_position_rad":[-1.5698870471604418,-1.6014089073289186,1.5778245915233895,-1.54736200792422,-1.5707819842349886,0.0009026608894848043],"joint_velocity_rad_s":[-0.00017605386377564044,0.0019642782885485634,-0.21295356801569962,0.20731553507667883,4.592041278861367e-06,-1.3819652014276786e-05],"linkage_position_rad":[0.0029334305550542516,0.00015609878677015821,0.003193975710303098,-0.003428597572487594,0.0029334595219485315,0.00015641384047231796,0.003199521786256451,-0.003437040765463099],"tcp_position_m":[-0.134439086517936,0.47879899450211444,0.3412600727776516],"tcp_quaternion_wxyz":[-5.8146212962879125e-05,0.7071044387158092,0.707109119635861,4.790840510235722e-05],"object_position_m":[-0.13444194836557283,0.4789461432128764,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.24731094583067e-12,-1.8608947767256906e-11,-2.34802744708809e-11],"object_linear_velocity_m_s":[4.1679003766787236e-11,2.7936734525159237e-12,6.290268156860105e-15],"object_angular_velocity_rad_s":[7.07076213400135e-11,-1.0548616067885663e-09,-7.344072998853168e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490206385223,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698920216546028,-1.610570695827352,1.525395055029262,-1.510962593964413,-1.5707777382336512,0.0008999021267158462,0.0],"actuator_force":[0.06047255718840461,-19.10928831228648,-19.677645781975116,-2.531846527764287,0.0016637965408108357,2.583816948675821e-06,-0.29222256728294965],"issued_joint_targets_rad":[-1.5698964537174986,-1.6004788294452843,1.5312763640985998,-1.5018149604652498,-1.5707791162482416,0.0008998825841963311],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.6199999999997123,"joint_targets_rad":[-1.5698964537174986,-1.6004788294452843,1.5312763640985998,-1.5018149604652498,-1.5707791162482416,0.0008998825841963311],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.63999999999971,"qpos":[-1.5698870855538845,-1.6013240216428075,1.5734051111747742,-1.5430352501280888,-1.5707816927549727,0.0009023942830848266,0.0029333525267036717,0.00015609799304511284,0.0031939031371213764,-0.0034285233522886598,0.0029333817099972074,0.00015641575426306772,0.0031994596235950068,-0.0034369638304040124,-0.13444194836502504,0.478946143212913,0.2998922445797836,1.0,1.1264677143004338e-12,-1.6805935951831087e-11,-2.626605621506803e-11],"qvel":[-0.00017914125461799865,0.0028401857027540362,-0.2137774148320266,0.2073117210799921,3.8955426673884714e-06,-1.2584126808327773e-05,-0.0001147141261824661,-3.3733611377887956e-05,-5.643965568508672e-06,0.00024931724206647335,-0.00010800559556558478,-2.6722941622839094e-06,0.00010171484018113693,0.0002532092200591409,2.0579331179720052e-11,1.3793900370841594e-12,6.29443149320245e-15,-4.6308416358068964e-11,6.908866369728465e-10,-7.956705227013292e-11],"joint_position_rad":[-1.5698870855538845,-1.6013240216428075,1.5734051111747742,-1.5430352501280888,-1.5707816927549727,0.0009023942830848266],"joint_velocity_rad_s":[-0.00017914125461799865,0.0028401857027540362,-0.2137774148320266,0.2073117210799921,3.8955426673884714e-06,-1.2584126808327773e-05],"linkage_position_rad":[0.0029333525267036717,0.00015609799304511284,0.0031939031371213764,-0.0034285233522886598,0.0029333817099972074,0.00015641575426306772,0.0031994596235950068,-0.0034369638304040124],"tcp_position_m":[-0.13443913752475276,0.478793312439319,0.34296055587664126],"tcp_quaternion_wxyz":[-6.1022425340084035e-05,0.7071043577880938,0.7071092001350785,5.0573506655834005e-05],"object_position_m":[-0.13444194836502504,0.478946143212913,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1264677143004338e-12,-1.6805935951831087e-11,-2.626605621506803e-11],"object_linear_velocity_m_s":[2.0579331179720052e-11,1.3793900370841594e-12,6.29443149320245e-15],"object_angular_velocity_rad_s":[-4.6308416319100834e-11,6.908866369754585e-10,-7.956705227013291e-11],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490743106105,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892045833072,-1.6103146769908725,1.520812572994763,-1.506636553702758,-1.570777593990069,0.000899880172249234,0.0],"actuator_force":[0.06173594347183098,-19.117384977231268,-19.674110427211872,-2.531823895333787,0.001659828185211154,1.3572630364611094e-06,-0.2922231132263037],"issued_joint_targets_rad":[-1.569896483513111,-1.6002043983682728,1.5266748178106169,-1.4974885746371762,-1.5707789722451135,0.0008998523584434139],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.63999999999971,"joint_targets_rad":[-1.569896483513111,-1.6002043983682728,1.5266748178106169,-1.4974885746371762,-1.5707789722451135,0.0008998523584434139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.659999999999708,"qpos":[-1.5698871266105483,-1.601221032391813,1.5689685197293752,-1.5387085256570123,-1.570781415200758,0.0009021503717113429,0.002933289013489999,0.00015609718429269098,0.003193845101389457,-0.0034284628522034547,0.0029333184130663466,0.0001564176557925164,0.0031994120090237843,-0.0034369006105232965,-0.1344419483644164,0.4789461432129539,0.2998922445797836,1.0,1.1985481502322622e-12,-1.7881121634595813e-11,-3.0787886297399644e-11],"qvel":[-0.00018224548812297521,0.0037138634262168183,-0.21460590365464907,0.207309839373662,3.2731976120789503e-06,-1.1504945521756875e-05,-0.00011405685791426934,-3.382155435016912e-05,-4.184363503283879e-06,0.0002488942050716168,-0.0001072918024309255,-2.465368364264726e-06,0.00010424324781145705,0.00025290422188972093,2.2224204023139785e-11,1.4896583792057673e-12,6.299982608325576e-15,-3.9556330187292294e-11,5.901468068337053e-10,-1.4526956291282676e-10],"joint_position_rad":[-1.5698871266105483,-1.601221032391813,1.5689685197293752,-1.5387085256570123,-1.570781415200758,0.0009021503717113429],"joint_velocity_rad_s":[-0.00018224548812297521,0.0037138634262168183,-0.21460590365464907,0.207309839373662,3.2731976120789503e-06,-1.1504945521756875e-05],"linkage_position_rad":[0.002933289013489999,0.00015609718429269098,0.003193845101389457,-0.0034284628522034547,0.0029333184130663466,0.0001564176557925164,0.0031994120090237843,-0.0034369006105232965],"tcp_position_m":[-0.13443918378146175,0.4787877261972536,0.34466057965139885],"tcp_quaternion_wxyz":[-6.355430312676084e-05,0.7071042858451975,0.7071092716838692,5.29047354034444e-05],"object_position_m":[-0.1344419483644164,0.4789461432129539,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1985481502322622e-12,-1.7881121634595813e-11,-3.0787886297399644e-11],"object_linear_velocity_m_s":[2.2224204023139785e-11,1.4896583792057673e-12,6.299982608325576e-15],"object_angular_velocity_rad_s":[-3.955633014575838e-11,5.901468068364892e-10,-1.4526956291282674e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093134911457073,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892078147245,-1.6100411936765975,1.51621223110178,-1.502310155588417,-1.5707774490771795,0.0008998499582624427,0.0],"actuator_force":[0.06299512185569256,-19.12586794005574,-19.6702157933305,-2.531798903068534,0.0016557420279923463,2.8782772559798886e-07,-0.29222362802609125],"issued_joint_targets_rad":[-1.5698965214139529,-1.5999122783419848,1.5220551260953346,-1.4931617405623558,-1.570778827477267,0.0008998140934512918],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.659999999999708,"joint_targets_rad":[-1.5698965214139529,-1.5999122783419848,1.5220551260953346,-1.4931617405623558,-1.570778827477267,0.0008998140934512918],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6799999999997057,"qpos":[-1.5698871705774997,-1.6010999806640718,1.564514719500658,-1.5343817899691539,-1.5707811501630546,0.0009019262083020113,0.002933237347166468,0.0001560963623494777,0.003193798945821468,-0.00342841354287142,0.0029332669629976104,0.00015641954768709,0.0031993762880926225,-0.0034368485762396777,-0.13444194836382314,0.47894614321299356,0.2998922445797836,1.0,1.2523725018659382e-12,-1.868415610023357e-11,-3.589790107623458e-11],"qvel":[-0.00018536555183217834,0.004585606164393104,-0.21543909481777906,0.20731014251472854,2.718131623526467e-06,-1.056611777242064e-05,-0.000113521022816974,-3.3909581772201347e-05,-2.8359684848893474e-06,0.00024858894144154684,-0.00010669919426973531,-2.257192639126822e-06,0.00010666522369554498,0.0002527174522291262,2.4270570644972547e-11,1.6268229696282605e-12,6.2916559356408865e-15,-2.7546366886526948e-11,4.1096265131498604e-10,-2.6522494000411204e-10],"joint_position_rad":[-1.5698871705774997,-1.6010999806640718,1.564514719500658,-1.5343817899691539,-1.5707811501630546,0.0009019262083020113],"joint_velocity_rad_s":[-0.00018536555183217834,0.004585606164393104,-0.21543909481777906,0.20731014251472854,2.718131623526467e-06,-1.056611777242064e-05],"linkage_position_rad":[0.002933237347166468,0.0001560963623494777,0.003193798945821468,-0.00342841354287142,0.0029332669629976104,0.00015641954768709,0.0031993762880926225,-0.0034368485762396777],"tcp_position_m":[-0.13443922554007315,0.4787822465569512,0.34636017324585705],"tcp_quaternion_wxyz":[-6.577569074928443e-05,0.7071042219330769,0.7071093352375818,5.493487867228118e-05],"object_position_m":[-0.13444194836382314,0.47894614321299356,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2523725018659382e-12,-1.868415610023357e-11,-3.589790107623458e-11],"object_linear_velocity_m_s":[2.4270570644972547e-11,1.6268229696282605e-12,6.2916559356408865e-15],"object_angular_velocity_rad_s":[-2.7546366847110544e-11,4.109626513176281e-10,-2.6522494000411204e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491438511619,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698921183808439,-1.6097502292522243,1.51159391881677,-1.4979833057866125,-1.570777303441425,0.0008998117036363663,0.0],"actuator_force":[0.06425061404479493,-19.13473964206196,-19.665963440664655,-2.5317721602021948,0.001651547652500085,-6.405555804112062e-07,-0.29222411442277035],"issued_joint_targets_rad":[-1.5698965671906266,-1.5996024518105711,1.5174171759033142,-1.4888343630367655,-1.5707786818977556,0.0008997680119473919],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.6799999999997057,"joint_targets_rad":[-1.5698965671906266,-1.5996024518105711,1.5174171759033142,-1.4888343630367655,-1.5707786818977556,0.0008997680119473919],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6999999999997035,"qpos":[-1.5698872176763683,-1.6009609018215878,1.5600436114349823,-1.5300549936442316,-1.5707808963633052,0.0009017191496154973,0.002933195345612109,0.00015609552874381615,0.0031937624972213845,-0.0034283733560705907,0.0029332251777516543,0.00015642143222020842,0.0031993502902832056,-0.0034368056590945305,-0.13444194836321202,0.4789461432130345,0.2998922445797836,1.0,1.3476493075610928e-12,-2.0105732246116357e-11,-4.231846350383557e-11],"qvel":[-0.00018850043702135555,0.005455687482688477,-0.21627705566191183,0.20731286350513534,2.2241224788311553e-06,-9.75316761412777e-06,-0.00011308455674085271,-3.399772029735106e-05,-1.5767073141318582e-06,0.00024838054644453093,-0.00010620569912242024,-2.0477537624957102e-06,0.00010900298684487297,0.0002526280239447316,2.789792974187257e-11,1.8699431643690298e-12,6.297207050764012e-15,-1.0733285093795893e-11,1.601200093515463e-10,-4.842328212903125e-10],"joint_position_rad":[-1.5698872176763683,-1.6009609018215878,1.5600436114349823,-1.5300549936442316,-1.5707808963633052,0.0009017191496154973],"joint_velocity_rad_s":[-0.00018850043702135555,0.005455687482688477,-0.21627705566191183,0.20731286350513534,2.2241224788311553e-06,-9.75316761412777e-06],"linkage_position_rad":[0.002933195345612109,0.00015609552874381615,0.0031937624972213845,-0.0034283733560705907,0.0029332251777516543,0.00015642143222020842,0.0031993502902832056,-0.0034368056590945305],"tcp_position_m":[-0.13443926303073975,0.47877688364069165,0.3480593628508015],"tcp_quaternion_wxyz":[-6.771711752227799e-05,0.7071041651955652,0.7071093916526074,5.6693507108802576e-05],"object_position_m":[-0.13444194836321202,0.4789461432130345,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3476493075610928e-12,-2.0105732246116357e-11,-4.231846350383557e-11],"object_linear_velocity_m_s":[2.789792974187257e-11,1.8699431643690298e-12,6.297207050764012e-15],"object_angular_velocity_rad_s":[-1.0733285060772117e-11,1.6012000935375988e-10,-4.842328212903125e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491641410346,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698921663130596,-1.609441765526524,1.5069575229362062,-1.4936559093836428,-1.5707771570316045,0.0008997656312299966,0.0],"actuator_force":[0.06550290142604354,-19.144002402947535,-19.66135473278746,-2.5317442202191387,0.0016472536024139117,-1.4424313375949183e-06,-0.29222457488887177],"issued_joint_targets_rad":[-1.569896620609467,-1.5992748995130124,1.5127608514197477,-1.484506345787923,-1.5707785354612749,0.0008997143415397745],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.6999999999997035,"joint_targets_rad":[-1.569896620609467,-1.5992748995130124,1.5127608514197477,-1.484506345787923,-1.5707785354612749,0.0008997143415397745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7199999999997013,"qpos":[-1.5698872681032412,-1.600803825897096,1.5555550949733046,-1.5257280827525366,-1.5707806526412915,0.0009015268275723539,0.0029331612246521086,0.00015609468474491267,0.003193733978693172,-0.0034283406010341697,0.0029331912732292256,0.00015642331136582732,0.0031993322412345463,-0.0034367701680549177,-0.13444194836260903,0.47894614321307505,0.2998922445797836,1.0,1.3730639306298077e-12,-2.048488338793386e-11,-4.9223817656966144e-11],"qvel":[-0.0001916491451861289,0.006324362098875085,-0.21711986015538462,0.20731821778654666,1.7855389648344992e-06,-9.052984294218086e-06,-0.00011272939927366879,-3.408599449288605e-05,-3.884893708863948e-07,0.000248251915669621,-0.00010579324857784844,-1.8370352480438034e-06,0.00011127477836121185,0.00025261885092108357,3.2920821193815646e-11,2.2066257302761314e-12,6.297207050764013e-15,1.709635883808068e-11,-2.5505344577592096e-10,-8.840887312961169e-10],"joint_position_rad":[-1.5698872681032412,-1.600803825897096,1.5555550949733046,-1.5257280827525366,-1.5707806526412915,0.0009015268275723539],"joint_velocity_rad_s":[-0.0001916491451861289,0.006324362098875085,-0.21711986015538462,0.20731821778654666,1.7855389648344992e-06,-9.052984294218086e-06],"linkage_position_rad":[0.0029331612246521086,0.00015609468474491267,0.003193733978693172,-0.0034283406010341697,0.0029331912732292256,0.00015642331136582732,0.0031993322412345463,-0.0034367701680549177],"tcp_position_m":[-0.1344392964650598,0.478771647002468,0.3497581719917946],"tcp_quaternion_wxyz":[-6.940612200010203e-05,0.707104114864349,0.7071094416966909,5.8207289670813696e-05],"object_position_m":[-0.13444194836260903,0.47894614321307505,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3730639306298077e-12,-2.048488338793386e-11,-4.9223817656966144e-11],"object_linear_velocity_m_s":[3.2920821193815646e-11,2.2066257302761314e-12,6.297207050764013e-15],"object_angular_velocity_rad_s":[1.7096358849192178e-11,-2.5505344577517624e-10,-8.840887312961169e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349177066648,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698922217177194,-1.6091157826964142,1.5023029275159088,-1.4893278703679214,-1.5707770097985523,0.0008997119687699194,0.0],"actuator_force":[0.06675242911796886,-19.15365843818654,-19.65639085263774,-2.5317155863471044,0.0016428674731514548,-2.1309717954109964e-06,-0.29222501165480913],"issued_joint_targets_rad":[-1.569896681431562,-1.5989296004343871,1.5080860339914863,-1.480177591452025,-1.5707783881239046,0.0008996533156377687],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.7199999999997013,"joint_targets_rad":[-1.569896681431562,-1.5989296004343871,1.5080860339914863,-1.480177591452025,-1.5707783881239046,0.0008996533156377687],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.739999999999699,"qpos":[-1.5698873220286615,-1.6006287779472057,1.5510490679197229,-1.5214009991860387,-1.570780417943905,0.0009013471234311185,0.0029331335258352283,0.00015609383140569957,0.003193711937729458,-0.0034283138959219886,0.002933163791049144,0.00015642518684589723,0.0031993206908510815,-0.003436740720995497,-0.1344419483620258,0.4789461432131142,0.2998922445797836,1.0,1.3125831753958288e-12,-1.9582444344214013e-11,-5.6192595274072545e-11],"qvel":[-0.00019481069320747204,0.007191867966807029,-0.21796758857201406,0.2073264050456999,1.3972853241390263e-06,-8.453687166871997e-06,-0.0001124407691878458,-3.4174427330218705e-05,7.435147008342983e-07,0.0002481890566471403,-0.0001054470531944531,-1.6250176697751526e-06,0.00011349558263657394,0.00025267595970060555,4.045456670865501e-11,2.7116256880708727e-12,6.291655935640887e-15,6.053621969614367e-11,-9.031183624234539e-10,-1.6141215726875288e-09],"joint_position_rad":[-1.5698873220286615,-1.6006287779472057,1.5510490679197229,-1.5214009991860387,-1.570780417943905,0.0009013471234311185],"joint_velocity_rad_s":[-0.00019481069320747204,0.007191867966807029,-0.21796758857201406,0.2073264050456999,1.3972853241390263e-06,-8.453687166871997e-06],"linkage_position_rad":[0.0029331335258352283,0.00015609383140569957,0.003193711937729458,-0.0034283138959219886,0.002933163791049144,0.00015642518684589723,0.0031993206908510815,-0.003436740720995497],"tcp_position_m":[-0.13443932603902295,0.478766545709884,0.35145662178879944],"tcp_quaternion_wxyz":[-7.086754460603503e-05,0.7071040702499573,0.7071094860581714,5.950027777934569e-05],"object_position_m":[-0.1344419483620258,0.4789461432131142,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3125831753958288e-12,-1.9582444344214013e-11,-5.6192595274072545e-11],"object_linear_velocity_m_s":[4.045456670865501e-11,2.7116256880708727e-12,6.291655935640887e-15],"object_angular_velocity_rad_s":[6.053621965786344e-11,-9.031183624260199e-10,-1.6141215726875288e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491839573043,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698922843624112,-1.6087722592916056,1.4976300137967433,-1.4849990916099698,-1.5707768616948452,0.0008996509497722254,0.0],"actuator_force":[0.06799960978378294,-19.163709875522727,-19.651072817153363,-2.531686716535546,0.0016383959975883045,-2.7181127593145504e-06,-0.2922254267323071],"issued_joint_targets_rad":[-1.5698967494117504,-1.5985665317536866,1.5033926020501323,-1.475848001550491,-1.5707782398428767,0.0008995851744004347],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.739999999999699,"joint_targets_rad":[-1.5698967494117504,-1.5985665317536866,1.5033926020501323,-1.475848001550491,-1.5707782398428767,0.0008995851744004347],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.759999999999697,"qpos":[-1.569887379597707,-1.60043577836577,1.5465254263157977,-1.51707368095519,-1.5707801913149726,0.000901178144530547,0.0029331110572846024,0.00015609296959863539,0.0031936951873204568,-0.0034282921116848735,0.0029331415393995964,0.00015642706016983916,0.003199314454422717,-0.0034367161885731196,-0.1344419483614801,0.47894614321315077,0.2998922445797836,1.0,1.1410963944103276e-12,-1.702393748953492e-11,-6.231534256041533e-11],"qvel":[-0.00019798411711803007,0.008058428171801794,-0.21882032722024958,0.20733761084769217,1.0547509520253297e-06,-7.94450342744256e-06,-0.00011220657084763525,-3.426304060037109e-05,1.8314641162355273e-06,0.0002481805268831051,-0.0001051550089020081,-1.4116789914308832e-06,0.00011567771916183666,0.0002527879265989374,2.0797506862992247e-11,1.3940333408198944e-12,6.299982608325577e-15,-4.8589861184195914e-11,7.249131983079608e-10,-1.7487685722026102e-10],"joint_position_rad":[-1.569887379597707,-1.60043577836577,1.5465254263157977,-1.51707368095519,-1.5707801913149726,0.000901178144530547],"joint_velocity_rad_s":[-0.00019798411711803007,0.008058428171801794,-0.21882032722024958,0.20733761084769217,1.0547509520253297e-06,-7.94450342744256e-06],"linkage_position_rad":[0.0029331110572846024,0.00015609296959863539,0.0031936951873204568,-0.0034282921116848735,0.0029331415393995964,0.00015642706016983916,0.003199314454422717,-0.0034367161885731196],"tcp_position_m":[-0.13443935193564244,0.47876158841851063,0.35315473119025853],"tcp_quaternion_wxyz":[-7.212379163188458e-05,0.7071040307336504,0.7071095253542626,6.0594161639269646e-05],"object_position_m":[-0.1344419483614801,0.47894614321315077,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1410963944103276e-12,-1.702393748953492e-11,-6.231534256041533e-11],"object_linear_velocity_m_s":[2.0797506862992247e-11,1.3940333408198944e-12,6.299982608325577e-15],"object_angular_velocity_rad_s":[-4.8589861087895295e-11,7.249131983144157e-10,-1.7487685722026102e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491858991853,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698923540075744,-1.6084111721165069,1.492938660126554,-1.4806694748415388,-1.5707767126745344,0.0008995828144921234,0.0],"actuator_force":[0.06924482711247038,-19.17415877019448,-19.645401490387485,-2.5316580279435357,0.0016338451239334972,-3.2146764675222705e-06,-0.29222582193546176],"issued_joint_targets_rad":[-1.5698968242976008,-1.5981856687878935,1.498680431030886,-1.471517476465904,-1.57077809057636,0.0008995101657137408],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.759999999999697,"joint_targets_rad":[-1.5698968242976008,-1.5981856687878935,1.498680431030886,-1.471517476465904,-1.57077809057636,0.0008995101657137408],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7799999999996947,"qpos":[-1.5698874409301158,-1.6002248431610417,1.5419840643196383,-1.5127460624546845,-1.5707799718860394,0.0009010182033547545,0.0029330928452584405,0.00015609210004491016,0.0031936827577206013,-0.0034282743261185348,0.002933123544599355,0.0001564289326678268,0.0031993125644077997,-0.0034366956482695266,-0.13444194836084686,0.47894614321319323,0.2998922445797836,1.0,1.2234273137890578e-12,-1.8252212849427062e-11,-7.349392063047463e-11],"qvel":[-0.00020116847469188153,0.008924252657435733,-0.21967816822013334,0.2073520081138981,7.537648414404685e-07,-7.515657434789582e-06,-0.00011201690787323843,-3.43518551006811e-05,2.885332230269935e-06,0.00024821697095978983,-0.00010490721065836264,-1.1969948559972432e-06,0.00011783132639540294,0.0002529454162204633,2.2535636111451917e-11,1.510538167566891e-12,6.290268156860105e-15,-4.297858639384995e-11,6.411927539446808e-10,-3.1928070755902627e-10],"joint_position_rad":[-1.5698874409301158,-1.6002248431610417,1.5419840643196383,-1.5127460624546845,-1.5707799718860394,0.0009010182033547545],"joint_velocity_rad_s":[-0.00020116847469188153,0.008924252657435733,-0.21967816822013334,0.2073520081138981,7.537648414404685e-07,-7.515657434789582e-06],"linkage_position_rad":[0.0029330928452584405,0.00015609210004491016,0.0031936827577206013,-0.0034282743261185348,0.002933123544599355,0.0001564289326678268,0.0031993125644077997,-0.0034366956482695266],"tcp_position_m":[-0.1344393743273122,0.478756783439638,0.3548525171841328],"tcp_quaternion_wxyz":[-7.319507340926393e-05,0.707103995760138,0.7071095601384777,6.150850146042221e-05],"object_position_m":[-0.13444194836084686,0.47894614321319323,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2234273137890578e-12,-1.8252212849427062e-11,-7.349392063047463e-11],"object_linear_velocity_m_s":[2.2535636111451917e-11,1.510538167566891e-12,6.290268156860105e-15],"object_angular_velocity_rad_s":[-4.297858628794726e-11,6.411927539517794e-10,-3.1928070755902627e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491837795189,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892430405561,-1.608032496189048,1.4882287418780078,-1.4763389206338697,-1.5707765626929013,0.0008995078109021544,0.0],"actuator_force":[0.07048843898655832,-19.18500711898696,-19.639377595207407,-2.531629900982466,0.0016292200849647998,-3.6304828211486395e-06,-0.29222619890023177],"issued_joint_targets_rad":[-1.5698969058283503,-1.5977869849320028,1.493949393286759,-1.467185915417293,-1.5707779402832596,0.0008994285462032931],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.7799999999996947,"joint_targets_rad":[-1.5698969058283503,-1.5977869849320028,1.493949393286759,-1.467185915417293,-1.5707779402832596,0.0008994285462032931],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7999999999996925,"qpos":[-1.5698875061204336,-1.5999959841997753,1.5374248740888252,-1.5084180747011187,-1.570779758868021,0.000900865798701977,0.002933078094484695,0.00015609122333893387,0.003193673856953844,-0.003428259786223656,0.002933109011432822,0.00015643080551828634,0.0031993142309483993,-0.00343667834676349,-0.13444194836022794,0.47894614321323464,0.2998922445797836,1.0,1.2870103783414518e-12,-1.9201219852550738e-11,-8.617682443604614e-11],"qvel":[-0.0002043628469784323,0.009789539801851363,-0.22054120932508528,0.2073697584598218,4.905543717527857e-07,-7.158270479500668e-06,-0.00011186368476637581,-3.444089094039836e-05,3.9133035456278106e-06,0.00024829074368041675,-0.00010469555405477352,-9.809386684115554e-07,0.00011996475933421125,0.00025314080329166935,2.4570934191883602e-11,1.6469294067118713e-12,6.297207050764013e-15,-3.220552086757361e-11,4.804635864417538e-10,-5.829257748954155e-10],"joint_position_rad":[-1.5698875061204336,-1.5999959841997753,1.5374248740888252,-1.5084180747011187,-1.570779758868021,0.000900865798701977],"joint_velocity_rad_s":[-0.0002043628469784323,0.009789539801851363,-0.22054120932508528,0.2073697584598218,4.905543717527857e-07,-7.158270479500668e-06],"linkage_position_rad":[0.002933078094484695,0.00015609122333893387,0.003193673856953844,-0.003428259786223656,0.002933109011432822,0.00015643080551828634,0.0031993142309483993,-0.00343667834676349],"tcp_position_m":[-0.13443939337792798,0.4787521388022625,0.3565499949881457],"tcp_quaternion_wxyz":[-7.409961917424564e-05,0.7071039648310234,0.7071095909072854,6.226093602932442e-05],"object_position_m":[-0.13444194836022794,0.47894614321323464,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2870103783414518e-12,-1.9201219852550738e-11,-8.617682443604614e-11],"object_linear_velocity_m_s":[2.4570934191883602e-11,1.6469294067118713e-12,6.297207050764013e-15],"object_angular_velocity_rad_s":[-3.220552076237819e-11,4.80463586448805e-10,-5.829257748954155e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491783227204,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892513299649,-1.607636204676041,1.4835001313619405,-1.472007328375069,-1.5707764117062273,0.0008994261957058575,0.0],"actuator_force":[0.07173078036021252,-19.196256873271977,-19.633001723735106,-2.5316026829573275,0.001624525459646975,-3.9744501096894425e-06,-0.2922265591017701],"issued_joint_targets_rad":[-1.5698969937338045,-1.5973704515946134,1.4891993579977307,-1.4628532164347146,-1.5707777889230337,0.0008993405822973917],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.7999999999996925,"joint_targets_rad":[-1.5698969937338045,-1.5973704515946134,1.4891993579977307,-1.4628532164347146,-1.5707777889230337,0.0008993405822973917],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8199999999996903,"qpos":[-1.5698875752381696,-1.5997492094211039,1.5328477456662801,-1.5040896455452055,-1.5707795515436356,0.0009007195987600647,0.0029330661556830817,0.00015609033996838925,0.0031936678384724983,-0.003428247877395287,0.0029330972906724735,0.00015643267977148514,0.003199318809541679,-0.0034366636691176428,-0.13444194835962583,0.478946143213275,0.2998922445797836,1.0,1.3220246134597594e-12,-1.9723635246790272e-11,-1.0028832024074147e-10],"qvel":[-0.00020756633895928353,0.010654477860089672,-0.2214095537859681,0.20739101340659746,2.617079553398881e-07,-6.86426992884083e-06,-0.00011174028062228592,-3.4530167787453605e-05,4.9220984082309884e-06,0.0002483955993229094,-0.0001045134090191789,-7.634819027209264e-07,0.00012208491442858462,0.0002533678637586644,2.7299798460965426e-11,1.829839698106076e-12,6.297207050764013e-15,-1.4287733100621056e-11,2.1316540269500177e-10,-1.0642761333234102e-09],"joint_position_rad":[-1.5698875752381696,-1.5997492094211039,1.5328477456662801,-1.5040896455452055,-1.5707795515436356,0.0009007195987600647],"joint_velocity_rad_s":[-0.00020756633895928353,0.010654477860089672,-0.2214095537859681,0.20739101340659746,2.617079553398881e-07,-6.86426992884083e-06],"linkage_position_rad":[0.0029330661556830817,0.00015609033996838925,0.0031936678384724983,-0.003428247877395287,0.0029330972906724735,0.00015643267977148514,0.003199318809541679,-0.0034366636691176428],"tcp_position_m":[-0.1344394092447988,0.47874766231008575,0.3582471782212755],"tcp_quaternion_wxyz":[-7.485387091487694e-05,0.7071039374989145,0.707109618106077,6.286737085240855e-05],"object_position_m":[-0.13444194835962583,0.478946143213275,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3220246134597594e-12,-1.9723635246790272e-11,-1.0028832024074147e-10],"object_linear_velocity_m_s":[2.7299798460965426e-11,1.829839698106076e-12,6.297207050764013e-15],"object_angular_velocity_rad_s":[-1.4287733015882268e-11,2.1316540270068156e-10,-1.0642761333234102e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491701199914,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698926024230104,-1.6072222688246613,1.4787526977357752,-1.467674596246577,-1.5707762596715868,0.0008993382354016693,0.0],"actuator_force":[0.07297216590222888,-19.20790995115067,-19.626274346622722,-2.5315766913454354,0.0016197652288383324,-4.254686313653888e-06,-0.29222690386957045],"issued_joint_targets_rad":[-1.5698970877331742,-1.5969360381286475,1.4844301910743665,-1.458519276333095,-1.5707776364555215,0.0008992465513525269],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.8199999999996903,"joint_targets_rad":[-1.5698970877331742,-1.5969360381286475,1.4844301910743665,-1.458519276333095,-1.5707776364555215,0.0008992465513525269],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.839999999999688,"qpos":[-1.5698876483279307,-1.5994845230226886,1.5282525668682485,-1.49976069986093,-1.5707793492605493,0.0009005784259118661,0.002933056498974488,0.00015608945033139966,0.0031936641746789134,-0.003428238098205517,0.0029330878524885294,0.0001564345563686973,0.003199325774570305,-0.0034366511135606056,-0.13444194835904427,0.4789461432133141,0.2998922445797836,1.0,1.3134867424008376e-12,-1.9596043714272856e-11,-1.1546529884272696e-10],"qvel":[-0.00021077807936996671,0.011519246287704826,-0.22228331025546952,0.20741591547857172,6.414125384405943e-08,-6.626306794040079e-06,-0.00011164128180941602,-3.4619705008405776e-05,5.9172397121624405e-06,0.00024852643962165315,-0.00010435535247971307,-5.445940933061692e-07,0.00012419749653605095,0.00025362152005636987,3.140859063339402e-11,2.105266811573905e-12,6.2930437144216675e-15,1.3561006124866757e-11,-2.022888144972e-10,-1.94309936943024e-09],"joint_position_rad":[-1.5698876483279307,-1.5994845230226886,1.5282525668682485,-1.49976069986093,-1.5707793492605493,0.0009005784259118661],"joint_velocity_rad_s":[-0.00021077807936996671,0.011519246287704826,-0.22228331025546952,0.20741591547857172,6.414125384405943e-08,-6.626306794040079e-06],"linkage_position_rad":[0.002933056498974488,0.00015608945033139966,0.0031936641746789134,-0.003428238098205517,0.0029330878524885294,0.0001564345563686973,0.003199325774570305,-0.0034366511135606056],"tcp_position_m":[-0.1344394220803832,0.47874336159423053,0.35994407905831727],"tcp_quaternion_wxyz":[-7.547265824308409e-05,0.7071039133621314,0.7071096421345201,6.33421478674403e-05],"object_position_m":[-0.13444194835904427,0.4789461432133141,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3134867424008376e-12,-1.9596043714272856e-11,-1.1546529884272696e-10],"object_linear_velocity_m_s":[3.140859063339402e-11,2.105266811573905e-12,6.2930437144216675e-15],"object_angular_velocity_rad_s":[1.3561006154306201e-11,-2.0228881449522717e-10,-1.94309936943024e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491596535707,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698926974976062,-1.6067906578895605,1.473986306906506,-1.4633406211987108,-1.570776106546652,0.0008992442074091812,0.0],"actuator_force":[0.0742128923970995,-19.219968248826262,-19.619195821297126,-2.5315522167475137,0.0016149428232665741,-4.478571938415499e-06,-0.2922272344017052],"issued_joint_targets_rad":[-1.5698971875338525,-1.5964837117567137,1.4796417550553604,-1.4541839906853118,-1.5707774828407817,0.0008991467428409642],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.839999999999688,"joint_targets_rad":[-1.5698971875338525,-1.5964837117567137,1.4796417550553604,-1.4541839906853118,-1.5707774828407817,0.0008991467428409642],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.859999999999686,"qpos":[-1.5698877254095251,-1.599201925621361,1.5236392231735845,-1.4954311597138055,-1.5707791514251623,0.0009004412431106376,0.002933048692112739,0.00015608855474973112,0.0031936624352483637,-0.003428230039745133,0.0029330802646811,0.00015643643615896583,0.003199334697634992,-0.0034366402708303112,-0.13444194835849035,0.4789461432133512,0.2998922445797836,1.0,1.2399805334438448e-12,-1.8498980395336295e-11,-1.307816807653324e-10],"qvel":[-0.000213997219860235,0.012384016959631877,-0.22316259273124728,0.20744459919805547,-1.0493340900201995e-07,-6.437680914236826e-06,-0.00011156226302797015,-3.470952186998989e-05,6.903270673306987e-06,0.0002486791039035095,-0.00010421694940164215,-3.2424293420382477e-07,0.00012630723718625497,0.00025389763518699805,3.8080183305582246e-11,2.552564680288717e-12,6.290268156860104e-15,5.520076486489782e-11,-8.23411598697825e-10,-3.5476119459090084e-09],"joint_position_rad":[-1.5698877254095251,-1.599201925621361,1.5236392231735845,-1.4954311597138055,-1.5707791514251623,0.0009004412431106376],"joint_velocity_rad_s":[-0.000213997219860235,0.012384016959631877,-0.22316259273124728,0.20744459919805547,-1.0493340900201995e-07,-6.437680914236826e-06],"linkage_position_rad":[0.002933048692112739,0.00015608855474973112,0.0031936624352483637,-0.003428230039745133,0.0029330802646811,0.00015643643615896583,0.003199334697634992,-0.0034366402708303112],"tcp_position_m":[-0.13443943203387315,0.4787392441623185,0.36164070836917583],"tcp_quaternion_wxyz":[-7.596935616013223e-05,0.7071038920599445,0.7071096633513604,6.369819852826924e-05],"object_position_m":[-0.13444194835849035,0.4789461432133512,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2399805334438448e-12,-1.8498980395336295e-11,-1.307816807653324e-10],"object_linear_velocity_m_s":[3.8080183305582246e-11,2.552564680288717e-12,6.290268156860104e-15],"object_angular_velocity_rad_s":[5.520076478077792e-11,-8.234115987034657e-10,-3.547611945909008e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491473165612,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698927982330197,-1.6063413390550896,1.4692008214277121,-1.4590052989252762,-1.57077595228951,0.0008991444012574108,0.0],"actuator_force":[0.07545324095463002,-19.232433651309748,-19.61176639924588,-2.5315295255409183,0.00161006116718454,-4.652835189744575e-06,-0.2922275517775439],"issued_joint_targets_rad":[-1.5698972928301067,-1.5960134374905286,1.4748339089983638,-1.44984725379444,-1.57077732803894,0.000899041459633116],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.859999999999686,"joint_targets_rad":[-1.5698972928301067,-1.5960134374905286,1.4748339089983638,-1.44984725379444,-1.57077732803894,0.000899041459633116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8799999999996837,"qpos":[-1.5698878064780093,-1.5989014143901865,1.519007597613554,-1.4911009445101766,-1.5707789574969804,0.0009003071416839118,0.002933042382666235,0.00015608765348113125,0.003193662269384311,-0.0034282233687332186,0.002933074174861995,0.00015643831991275507,0.0031993452298186794,-0.0034366308072831197,-0.13444194835794682,0.4789461432133875,0.2998922445797836,1.0,1.152379965546858e-12,-1.7191622826879916e-11,-1.4728496403223236e-10],"qvel":[-0.00021722293352847215,0.013248955297321445,-0.22404752053694807,0.20747719198756817,-2.48034707237661e-07,-6.2922728768404195e-06,-0.00011149960802647095,-3.4799637655755885e-05,7.883934090165982e-06,0.0002488502013570351,-0.00010409457349023445,-1.0239435488463536e-07,0.00012841807398757143,0.00025419284099403324,4.931731523107152e-11,3.3058762561506795e-12,6.2930437144216675e-15,1.1579395952203491e-10,-1.7273355107964726e-09,-6.477046778304822e-09],"joint_position_rad":[-1.5698878064780093,-1.5989014143901865,1.519007597613554,-1.4911009445101766,-1.5707789574969804,0.0009003071416839118],"joint_velocity_rad_s":[-0.00021722293352847215,0.013248955297321445,-0.22404752053694807,0.20747719198756817,-2.48034707237661e-07,-6.2922728768404195e-06],"linkage_position_rad":[0.002933042382666235,0.00015608765348113125,0.003193662269384311,-0.0034282233687332186,0.002933074174861995,0.00015643831991275507,0.0031993452298186794,-0.0034366308072831197],"tcp_position_m":[-0.1344394392526515,0.4787353174445231,0.36333707584437613],"tcp_quaternion_wxyz":[-7.635602737844983e-05,0.7071038732682976,0.7071096820787318,6.394718189161066e-05],"object_position_m":[-0.13444194835794682,0.4789461432133875,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.152379965546858e-12,-1.7191622826879916e-11,-1.4728496403223236e-10],"object_linear_velocity_m_s":[4.931731523107152e-11,3.3058762561506795e-12,6.2930437144216675e-15],"object_angular_velocity_rad_s":[1.157939592359157e-10,-1.7273355108156539e-09,-6.477046778304822e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491334291868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698929043251948,-1.6058742773520125,1.4643961003899444,-1.454668523837195,-1.5707757968584928,0.0008990391198677928,0.0],"actuator_force":[0.07669347903993184,-19.24530804258029,-19.603986232440093,-2.531508862266037,0.0016051227145226221,-4.783620375425901e-06,-0.2922278569688279],"issued_joint_targets_rad":[-1.5698974033016748,-1.595525178043732,1.4700065083633895,-1.4455089586651542,-1.5707771720100434,0.0008989310193663486],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.8799999999996837,"joint_targets_rad":[-1.5698974033016748,-1.595525178043732,1.4700065083633895,-1.4455089586651542,-1.5707771720100434,0.0008989310193663486],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8999999999996815,"qpos":[-1.5698878915036778,-1.5985829831736456,1.5143575706613828,-1.4867699711293147,-1.570778766983508,0.0009001753304372273,0.0029330372834344234,0.0001560867467283691,0.003193663391294547,-0.003428217813677978,0.002933069295871482,0.00015644020833387092,0.0031993570871687456,-0.0034366224510613396,-0.13444194835734097,0.4789461432134282,0.2998922445797836,1.0,1.2023949141858645e-12,-1.7937353450535403e-11,-1.7185394534579342e-10],"qvel":[-0.0002204544128606876,0.014114221316353105,-0.22493821834064825,0.20751381498849714,-3.6743736176536507e-07,-6.184482066974364e-06,-0.0001114503627861711,-3.489007184591045e-05,8.862318543882951e-06,0.00024903697019079105,-0.00010398526035031161,1.2098743413080665e-07,0.00013053329719252615,0.00025450439998332274,2.1955963327695225e-11,1.471767048489945e-12,6.2930437144216675e-15,-4.32744067197089e-11,6.455846066825416e-10,-7.017350445083423e-10],"joint_position_rad":[-1.5698878915036778,-1.5985829831736456,1.5143575706613828,-1.4867699711293147,-1.570778766983508,0.0009001753304372273],"joint_velocity_rad_s":[-0.0002204544128606876,0.014114221316353105,-0.22493821834064825,0.20751381498849714,-3.6743736176536507e-07,-6.184482066974364e-06],"linkage_position_rad":[0.0029330372834344234,0.0001560867467283691,0.003193663391294547,-0.003428217813677978,0.002933069295871482,0.00015644020833387092,0.0031993570871687456,-0.0034366224510613396],"tcp_position_m":[-0.13443944388364332,0.4787315888371576,0.3650331901081404],"tcp_quaternion_wxyz":[-7.664355071711098e-05,0.7071038566959618,0.7071096986060244,6.409960917095527e-05],"object_position_m":[-0.13444194835734097,0.4789461432134282,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2023949141858645e-12,-1.7937353450535403e-11,-1.7185394534579342e-10],"object_linear_velocity_m_s":[2.1955963327695225e-11,1.471767048489945e-12,6.2930437144216675e-15],"object_angular_velocity_rad_s":[-4.327440647264184e-11,6.455846066991029e-10,-7.017350445083423e-10],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491182520868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698930154550765,-1.605389435568016,1.4595719993037677,-1.450330189035151,-1.5707756402120128,0.0008989286809235427,0.0],"actuator_force":[0.07793386234698119,-19.25859331528227,-19.59585537897101,-2.5314904517678087,0.0016001294837906244,-4.876550144861103e-06,-0.29222815084961284],"issued_joint_targets_rad":[-1.5698975186122541,-1.5950188937373246,1.4651594048879841,-1.4411689969742334,-1.570777014713921,0.0008988157559347179],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.8999999999996815,"joint_targets_rad":[-1.5698975186122541,-1.5950188937373246,1.4651594048879841,-1.4411689969742334,-1.570777014713921,0.0008988157559347179],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9199999999996793,"qpos":[-1.569887980431963,-1.5982466225823673,1.5096890201207696,-1.4824381540398892,-1.5707785794356235,0.0009000451259445514,0.0029330331605135268,0.00015608583464753046,0.003193665568305157,-0.0034282131535701673,0.0029330653938441607,0.0001564421020693326,0.0031993700388196016,-0.0034366149807736547,-0.13444194835670892,0.4789461432134706,0.2998922445797836,1.0,1.2979688632502996e-12,-1.9362530177772133e-11,-2.032952187146189e-10],"qvel":[-0.00022369086719696294,0.014979970605914416,-0.2258348162107356,0.20755458380455055,-4.651947715555953e-07,-6.109170100145836e-06,-0.00011141211522078384,-3.498084419418359e-05,9.840978264589924e-06,0.0002492371640143438,-0.0001038865871619305,3.459400452817941e-07,0.00013265567070253897,0.0002548300918718716,2.4411885922680035e-11,1.6364485293147927e-12,6.295819271983232e-15,-3.510119966198264e-11,5.236513308657005e-10,-1.2811913033966946e-09],"joint_position_rad":[-1.569887980431963,-1.5982466225823673,1.5096890201207696,-1.4824381540398892,-1.5707785794356235,0.0009000451259445514],"joint_velocity_rad_s":[-0.00022369086719696294,0.014979970605914416,-0.2258348162107356,0.20755458380455055,-4.651947715555953e-07,-6.109170100145836e-06],"linkage_position_rad":[0.0029330331605135268,0.00015608583464753046,0.003193665568305157,-0.0034282131535701673,0.0029330653938441607,0.0001564421020693326,0.0031993700388196016,-0.0034366149807736547],"tcp_position_m":[-0.13443944607458316,0.478728065744337,0.3667290588202383],"tcp_quaternion_wxyz":[-7.684173692837358e-05,0.7071038420810707,0.7071097131933584,6.416495608417914e-05],"object_position_m":[-0.13444194835670892,0.4789461432134706,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2979688632502996e-12,-1.9362530177772133e-11,-2.032952187146189e-10],"object_linear_velocity_m_s":[2.4411885922680035e-11,1.6364485293147927e-12,6.295819271983232e-15],"object_angular_velocity_rad_s":[-3.510119939945681e-11,5.236513308832982e-10,-1.2811913033966946e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491019971928,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569893131287139,-1.6048867741512216,1.4547283699746454,-1.4459901862812137,-1.5707754823084108,0.000898813418359897,0.0],"actuator_force":[0.07917463652665901,-19.272291380073966,-19.58737380795401,-2.531474501117259,0.0015950830834299268,-4.936782312559007e-06,-0.2922284342059708],"issued_joint_targets_rad":[-1.5698976384078551,-1.594494542396826,1.4602924464532054,-1.4368272590401323,-1.57077685611005,0.0008986960211102675],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.9199999999996793,"joint_targets_rad":[-1.5698976384078551,-1.594494542396826,1.4602924464532054,-1.4368272590401323,-1.57077685611005,0.0008986960211102675],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.939999999999677,"qpos":[-1.5698880731832425,-1.5978923200686475,1.5050018210125808,-1.478105405402229,-1.5707783944433824,0.0008999159439242025,0.0029330298235315804,0.00015608491735452678,0.003193668611135493,-0.0034282092086164993,0.002933062278444176,0.00015644400171772071,0.003199383897272701,-0.003436608216239886,-0.13444194835608655,0.4789461432135124,0.2998922445797836,1.0,1.3554520781395035e-12,-2.021981077356234e-11,-2.3848459560875585e-10],"qvel":[-0.00022693151967573106,0.015846355251163766,-0.226737449710019,0.20759960917736306,-5.431594872924753e-07,-6.061609073349169e-06,-0.00011138289676937867,-3.5071974852751674e-05,1.0822031995635354e-05,0.00024944895904586647,-0.00010379657424757567,5.725028363880634e-07,0.0001347875303551923,0.0002551681189762708,2.7271799222560726e-11,1.82818199926776e-12,6.298594829544795e-15,-1.9445994404261514e-11,2.9009252755404035e-10,-2.3391318097014705e-09],"joint_position_rad":[-1.5698880731832425,-1.5978923200686475,1.5050018210125808,-1.478105405402229,-1.5707783944433824,0.0008999159439242025],"joint_velocity_rad_s":[-0.00022693151967573106,0.015846355251163766,-0.226737449710019,0.20759960917736306,-5.431594872924753e-07,-6.061609073349169e-06],"linkage_position_rad":[0.0029330298235315804,0.00015608491735452678,0.003193668611135493,-0.0034282092086164993,0.002933062278444176,0.00015644400171772071,0.003199383897272701,-0.003436608216239886],"tcp_position_m":[-0.13443944597521656,0.47872475561822986,0.3684246887677053],"tcp_quaternion_wxyz":[-7.695943318660098e-05,0.7071038291880131,0.7071097260747058,6.415176418913176e-05],"object_position_m":[-0.13444194835608655,0.4789461432135124,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3554520781395035e-12,-2.021981077356234e-11,-2.3848459560875585e-10],"object_linear_velocity_m_s":[2.7271799222560726e-11,1.82818199926776e-12,6.298594829544795e-15],"object_angular_velocity_rad_s":[-1.944599417130271e-11,2.9009252756965664e-10,-2.3391318097014705e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490848366401,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698932514677726,-1.6043662511057741,1.449865060368693,-1.4416484059694177,-1.570775323105805,0.0008986936839858646,0.0],"actuator_force":[0.0804160388101991,-19.286404174718882,-19.578541403768213,-2.5314612013306714,0.001589984737506711,-4.9690618340592074e-06,-0.292228707743703],"issued_joint_targets_rad":[-1.56989776231501,-1.5939520792401038,1.4554054769393117,-1.432483633791572,-1.5707766961574217,0.0008985721863124749],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.939999999999677,"joint_targets_rad":[-1.56989776231501,-1.5939520792401038,1.4554054769393117,-1.432483633791572,-1.5707766961574217,0.0008985721863124749],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.959999999999675,"qpos":[-1.5698881696525362,-1.5975200599837371,1.5002958454589144,-1.4737716351576646,-1.5707782116322115,0.0008997872916103459,0.0029330271176599377,0.00015608399493068434,0.0031936723659395086,-0.0034282058326674273,0.002933059794876834,0.0001564459078364605,0.0031993985104449485,-0.0034366020109103754,-0.13444194835548062,0.47894614321355294,0.2998922445797836,1.0,1.3658850719625093e-12,-2.037533223288635e-11,-2.767277823232689e-10],"qvel":[-0.0002301756037310812,0.016713524709006382,-0.22764626002936453,0.20764899760108307,-6.030017015489988e-07,-6.037434096548332e-06,-0.00011136110182023865,-3.516348457434966e-05,1.1807242950058845e-05,0.0002496708768411788,-0.00010371360446253245,8.007170198543972e-07,0.00013693086587721032,0.0002555170315299491,3.1225315685040715e-11,2.093223993730538e-12,6.287492599298541e-15,6.120729207025848e-12,-9.129312314137914e-11,-4.270663367277318e-09],"joint_position_rad":[-1.5698881696525362,-1.5975200599837371,1.5002958454589144,-1.4737716351576646,-1.5707782116322115,0.0008997872916103459],"joint_velocity_rad_s":[-0.0002301756037310812,0.016713524709006382,-0.22764626002936453,0.20764899760108307,-6.030017015489988e-07,-6.037434096548332e-06],"linkage_position_rad":[0.0029330271176599377,0.00015608399493068434,0.0031936723659395086,-0.0034282058326674273,0.002933059794876834,0.0001564459078364605,0.0031993985104449485,-0.0034366020109103754],"tcp_position_m":[-0.13443944373845435,0.4787216659984061,0.3701200859474161],"tcp_quaternion_wxyz":[-7.70046173501907e-05,0.707103817804625,0.707109737460698,6.406773228404781e-05],"object_position_m":[-0.13444194835548062,0.47894614321355294,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3658850719625093e-12,-2.037533223288635e-11,-2.767277823232689e-10],"object_linear_velocity_m_s":[3.1225315685040715e-11,2.093223993730538e-12,6.287492599298541e-15],"object_angular_velocity_rad_s":[6.120729330531531e-12,-9.129312313310023e-11,-4.270663367277318e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349066910047,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698933756235254,-1.6038278218784403,1.4449819144682041,-1.4373047370952614,-1.570775162561947,0.0008985698492540814,0.0],"actuator_force":[0.08165829951394699,-19.300933673008785,-19.569357969674456,-2.531450728906634,0.001584835302423926,-4.977768477354427e-06,-0.2922289720954247],"issued_joint_targets_rad":[-1.569897889938803,-1.5933914567546557,1.450498336069912,-1.4281380087351325,-1.5707765348144134,0.0008984446445569123],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.959999999999675,"joint_targets_rad":[-1.569897889938803,-1.5933914567546557,1.450498336069912,-1.4281380087351325,-1.5707765348144134,0.0008984446445569123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9799999999996727,"qpos":[-1.569888269709073,-1.597129823617702,1.4955709625636822,-1.469436751106087,-1.5707780306594588,0.0008996587610416657,0.0029330249170790514,0.00015608306742751355,0.0031936767077986573,-0.003428202907029186,0.0029330578173544734,0.00015644782094785333,0.0031994137551649734,-0.00343659624568094,-0.13444194835489912,0.4789461432135919,0.2998922445797836,1.0,1.3119282992877531e-12,-1.9570439799227574e-11,-3.161108323818127e-10],"qvel":[-0.0002334223590969625,0.017581626647631434,-0.22856139416281332,0.20770285188179846,-6.462259513845687e-07,-6.032599551760704e-06,-0.00011134542166296581,-3.525539464766796e-05,1.2798085806101518e-05,0.00024990172341236573,-0.0001036363571193348,1.0306257330597728e-06,0.00013908738720661706,0.00025587566414964617,3.740145472472921e-11,2.507241339137039e-12,6.291655935640886e-15,4.510360222615163e-11,-6.728377818737697e-10,-7.797154052138077e-09],"joint_position_rad":[-1.569888269709073,-1.597129823617702,1.4955709625636822,-1.469436751106087,-1.5707780306594588,0.0008996587610416657],"joint_velocity_rad_s":[-0.0002334223590969625,0.017581626647631434,-0.22856139416281332,0.20770285188179846,-6.462259513845687e-07,-6.032599551760704e-06],"linkage_position_rad":[0.0029330249170790514,0.00015608306742751355,0.0031936767077986573,-0.003428202907029186,0.0029330578173544734,0.00015644782094785333,0.0031994137551649734,-0.00343659624568094],"tcp_position_m":[-0.1344394395214976,0.4787188045507693,0.3718152556403937],"tcp_quaternion_wxyz":[-7.698448298827978e-05,0.7071038077396674,0.7071097475411514,6.391979884402143e-05],"object_position_m":[-0.13444194835489912,0.4789461432135919,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3119282992877531e-12,-1.9570439799227574e-11,-3.161108323818127e-10],"object_linear_velocity_m_s":[3.740145472472921e-11,2.507241339137039e-12,6.291655935640886e-15],"object_angular_velocity_rad_s":[4.510360210595647e-11,-6.728377818818265e-10,-7.797154052138077e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490483304847,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698935033591588,-1.6032714392349903,1.4400787721156916,-1.4329590672241141,-1.5707750006340806,0.0008984423072098414,0.0],"actuator_force":[0.0829016434672667,-19.315881893629467,-19.559823230855727,-2.5314432471933515,0.0015796352842016859,-4.966960736041415e-06,-0.2922292278277647],"issued_joint_targets_rad":[-1.5698980208607,-1.592812624562885,1.4455708592430547,-1.4237902699217835,-1.5707763720386547,0.0008983138126080195],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.9799999999996727,"joint_targets_rad":[-1.5698980208607,-1.592812624562885,1.4455708592430547,-1.4237902699217835,-1.5707763720386547,0.0008983138126080195],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9999999999996705,"qpos":[-1.5698883731957152,-1.5967215892224116,1.4908270382887958,-1.4651006589727742,-1.5707778512112571,0.0008995300231987416,0.00293302311963493,0.00015608213487028377,0.003193681535396564,-0.003428200335390085,0.002933056243752999,0.00015644974154442617,0.0031994295318556955,-0.0034365908238236185,-0.13444194835435433,0.4789461432136285,0.2998922445797836,1.0,1.1665738068779417e-12,-1.7402144558210806e-11,-3.5238273364847483e-10],"qvel":[-0.00023667102736731833,0.01845080776024753,-0.22948300512714132,0.20776127164748848,-6.741861834526628e-07,-6.043338608008003e-06,-0.00011133479060134821,-3.5347727212279895e-05,1.3795800127205737e-05,0.0002501405365958243,-0.00010356375405566452,1.2622740674903504e-06,0.00014125857982815455,0.00025624308578556357,4.7659778714219324e-11,3.1949826635205835e-12,6.302758165887138e-15,1.0248810626695818e-10,-1.52877945739002e-09,-1.4235635210867283e-08],"joint_position_rad":[-1.5698883731957152,-1.5967215892224116,1.4908270382887958,-1.4651006589727742,-1.5707778512112571,0.0008995300231987416],"joint_velocity_rad_s":[-0.00023667102736731833,0.01845080776024753,-0.22948300512714132,0.20776127164748848,-6.741861834526628e-07,-6.043338608008003e-06],"linkage_position_rad":[0.00293302311963493,0.00015608213487028377,0.003193681535396564,-0.003428200335390085,0.002933056243752999,0.00015644974154442617,0.0031994295318556955,-0.0034365908238236185],"tcp_position_m":[-0.1344394334869498,0.47871617910659076,0.3735102024786582],"tcp_quaternion_wxyz":[-7.690551608771108e-05,0.7071037988205477,0.707109756487343,6.371421637331455e-05],"object_position_m":[-0.13444194835435433,0.4789461432136285,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1665738068779417e-12,-1.7402144558210806e-11,-3.5238273364847483e-10],"object_linear_velocity_m_s":[4.7659778714219324e-11,3.1949826635205835e-12,6.302758165887138e-15],"object_angular_velocity_rad_s":[1.0248810568498838e-10,-1.5287794574290363e-09,-1.4235635210867283e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490291893442,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698936342555045,-1.6026970531248894,1.435155468844915,-1.4286112824584822,-1.5707748372787982,0.0008983114746442007,0.0],"actuator_force":[0.08414629136768781,-19.331250909054233,-19.54993683690509,-2.531438907602819,0.0015743848476859057,-4.940416469700892e-06,-0.2922294754461114],"issued_joint_targets_rad":[-1.5698981546361437,-1.5922155292736855,1.4406228773475274,-1.4194403019123245,-1.570776207786898,0.0008981801333650649],"issued_gripper_0_255":0.0,"command":{"t_seconds":3.9999999999996705,"joint_targets_rad":[-1.5698981546361437,-1.5922155292736855,1.4406228773475274,-1.4194403019123245,-1.570776207786898,0.0008981801333650649],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.019999999999677,"qpos":[-1.5698884799282162,-1.5962953320180218,1.486063935324976,-1.4607632624654077,-1.5707776729996803,0.0008994008229309959,0.0029330216424701696,0.00015608119726142207,0.003193686766667297,-0.003428198039692995,0.00293305499124292,0.00015645167009325272,0.003199445760185278,-0.003436585666841987,-0.13444194835376327,0.47894614321366813,0.2998922445797836,1.0,1.1697853892852175e-12,-1.7449822625823548e-11,-4.063818888468223e-10],"qvel":[-0.00023992084701924345,0.01932121456352305,-0.23041125222955297,0.2078243538133098,-6.880993496313566e-07,-6.0661255467438605e-06,-0.00011132834169294056,-3.5440505232863995e-05,1.4801435570890863e-05,0.00025038654513492983,-0.00010349491533195065,1.4957092841009055e-06,0.00014344574998739296,0.00025661855807045765,2.1467234233831785e-11,1.4390986602150889e-12,6.2958192719832294e-15,-4.3678733657390577e-11,6.515702088057241e-10,-1.54231449666822e-09],"joint_position_rad":[-1.5698884799282162,-1.5962953320180218,1.486063935324976,-1.4607632624654077,-1.5707776729996803,0.0008994008229309959],"joint_velocity_rad_s":[-0.00023992084701924345,0.01932121456352305,-0.23041125222955297,0.2078243538133098,-6.880993496313566e-07,-6.0661255467438605e-06],"linkage_position_rad":[0.0029330216424701696,0.00015608119726142207,0.003193686766667297,-0.003428198039692995,0.00293305499124292,0.00015645167009325272,0.003199445760185278,-0.003436585666841987],"tcp_position_m":[-0.13443942580393614,0.4787137977021497,0.3752049305053341],"tcp_quaternion_wxyz":[-7.677356424532304e-05,0.7071037908912615,0.7071097644540657,6.3456618461684e-05],"object_position_m":[-0.13444194835376327,0.47894614321366813,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1697853892852175e-12,-1.7449822625823548e-11,-4.063818888468223e-10],"object_linear_velocity_m_s":[2.1467234233831785e-11,1.4390986602150889e-12,6.2958192719832294e-15],"object_angular_velocity_rad_s":[-4.3678733073991684e-11,6.51570208844833e-10,-1.54231449666822e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490095603258,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698937678670786,-1.6021046105326124,1.4302118356971656,-1.4242612674041064,-1.5707746724519023,0.0008981777944802389,0.0],"actuator_force":[0.08539246108284715,-19.347042854590654,-19.539698363799744,-2.531437850680277,0.0015690838240516314,-4.901670704160477e-06,-0.29222971540053005],"issued_joint_targets_rad":[-1.5698982907918797,-1.5916001143183125,1.435654216562312,-1.4150879877417053,-1.5707760420148813,0.0008980440785189111],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.019999999999677,"joint_targets_rad":[-1.5698982907918797,-1.5916001143183125,1.435654216562312,-1.4150879877417053,-1.5707760420148813,0.0008980440785189111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.039999999999684,"qpos":[-1.5698885896943002,-1.5958510241830781,1.481281512956113,-1.4564244633221157,-1.5707774957601586,0.0008992709746233046,0.002933020418452616,0.00015608025458302378,0.0031936923352357182,-0.003428195956741163,0.002933053992717989,0.00015645360703966528,0.003199462375511175,-0.0034365807110939305,-0.1344419483531593,0.4789461432137087,0.2998922445797836,1.0,1.2344031918536061e-12,-1.8413419518725244e-11,-4.754853522920124e-10],"qvel":[-0.00024317104791929874,0.0201929941917575,-0.23134630138839551,0.20789219300662032,-6.890576234083566e-07,-6.09764045558969e-06,-0.00011132537067779715,-3.553375275037923e-05,1.5815887973129956e-05,0.0002506391343606416,-0.0001034291231087076,1.7309808851549823e-06,0.00014565006259467756,0.00025700150048666603,2.328693543807927e-11,1.5611119162988242e-12,6.293043714421666e-15,-3.448899434350784e-11,5.144849329208119e-10,-2.8158767372942525e-09],"joint_position_rad":[-1.5698885896943002,-1.5958510241830781,1.481281512956113,-1.4564244633221157,-1.5707774957601586,0.0008992709746233046],"joint_velocity_rad_s":[-0.00024317104791929874,0.0201929941917575,-0.23134630138839551,0.20789219300662032,-6.890576234083566e-07,-6.09764045558969e-06],"linkage_position_rad":[0.002933020418452616,0.00015608025458302378,0.0031936923352357182,-0.003428195956741163,0.002933053992717989,0.00015645360703966528,0.003199462375511175,-0.0034365807110939305],"tcp_position_m":[-0.1344394166492416,0.4787116686195348,0.3768994432286594],"tcp_quaternion_wxyz":[-7.659389907983554e-05,0.7071037838105318,0.7071097715814831,6.315208025921656e-05],"object_position_m":[-0.1344419483531593,0.4789461432137087,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2344031918536061e-12,-1.8413419518725244e-11,-4.754853522920124e-10],"object_linear_velocity_m_s":[2.328693543807927e-11,1.5611119162988242e-12,6.293043714421666e-15],"object_angular_velocity_rad_s":[-3.44889937505479e-11,5.144849329605617e-10,-2.8158767372942525e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489895026986,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698939037194295,-1.6014940553135582,1.4252476990207479,-1.4199089051348746,-1.5707745061082583,0.0008980417384300948,0.0],"actuator_force":[0.08664036890922944,-19.36325993766286,-19.52910731537213,-2.5314402070414417,0.0015637317125083428,-4.85405104594383e-06,-0.29222994808959774],"issued_joint_targets_rad":[-1.5698984288229691,-1.590966319768142,1.4306646981367328,-1.410733208882174,-1.5707758746771865,0.0008979061515278444],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.039999999999684,"joint_targets_rad":[-1.5698984288229691,-1.590966319768142,1.4306646981367328,-1.410733208882174,-1.5707758746771865,0.0008979061515278444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.0599999999996905,"qpos":[-1.5698887022525272,-1.5953886348281323,1.4764796269159604,-1.4520841613513018,-1.570777319249127,0.0008991403585617296,0.00293301939325696,0.00015607930679919428,0.003193698187509326,-0.003428194035440345,0.0029330531938767733,0.00015645555281082205,0.0031994793259776375,-0.003436575905022463,-0.13444194835257162,0.478946143213748,0.2998922445797836,1.0,1.2753133498825152e-12,-1.9023477285873587e-11,-5.528266104828489e-10],"qvel":[-0.0002464208452178859,0.021066295198554474,-0.2322883255131407,0.20796488195583865,-6.780393855458183e-07,-6.134735841928451e-06,-0.00011132530641266192,-3.562749496031478e-05,1.6839929817857304e-05,0.0002508978186612594,-0.0001033657920236106,1.9681408444420917e-06,0.00014787257270737142,0.00025739146467164924,2.5687141779447068e-11,1.7220339253842487e-12,6.298594829544792e-15,-1.9016399833676735e-11,2.8367225185967914e-10,-5.141079932041494e-09],"joint_position_rad":[-1.5698887022525272,-1.5953886348281323,1.4764796269159604,-1.4520841613513018,-1.570777319249127,0.0008991403585617296],"joint_velocity_rad_s":[-0.0002464208452178859,0.021066295198554474,-0.2322883255131407,0.20796488195583865,-6.780393855458183e-07,-6.134735841928451e-06],"linkage_position_rad":[0.00293301939325696,0.00015607930679919428,0.003193698187509326,-0.003428194035440345,0.0029330531938767733,0.00015645555281082205,0.0031994793259776375,-0.003436575905022463],"tcp_position_m":[-0.13443940620849432,0.4787098004291782,0.37859374367047777],"tcp_quaternion_wxyz":[-7.637127253049018e-05,0.7071037774501231,0.7071097779968146,6.280517301137144e-05],"object_position_m":[-0.13444194835257162,0.478946143213748,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2753133498825152e-12,-1.9023477285873587e-11,-5.528266104828489e-10],"object_linear_velocity_m_s":[2.5687141779447068e-11,1.7220339253842487e-12,6.298594829544792e-15],"object_angular_velocity_rad_s":[-1.9016399324431162e-11,2.8367225189381766e-10,-5.141079932041494e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489690639691,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698940413061666,-1.6008653280121676,1.4202628802511936,-1.4155540771564994,-1.5707743382016475,0.0008979038099710394,0.0],"actuator_force":[0.0878902308081706,-19.37990444749221,-19.51816312427718,-2.5314460981826414,0.0015583276783672773,-4.8007111522752055e-06,-0.2922301738645053],"issued_joint_targets_rad":[-1.5698985681894286,-1.59031408213146,1.4256541381484165,-1.4063758452052435,-1.5707757057270944,0.0008977668909546612],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.0599999999996905,"joint_targets_rad":[-1.5698985681894286,-1.59031408213146,1.4256541381484165,-1.4063758452052435,-1.5707757057270944,0.0008977668909546612],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.079999999999697,"qpos":[-1.5698888173309224,-1.5949081299525023,1.4716581292358129,-1.4477422544639242,-1.5707771432418869,0.0008990089179657856,0.002933018522980144,0.00015607835385780694,0.0031937042803002933,-0.0034281922345404166,0.002933052550837924,0.0001564575078180034,0.0031994965701403664,-0.0034365712068979296,-0.1344419483520031,0.4789461432137861,0.2998922445797836,1.0,1.278734573641122e-12,-1.907466478156755e-11,-6.368797173425227e-10],"qvel":[-0.0002496694325624537,0.021941268378699964,-0.23323750495124923,0.20804251184654896,-6.559190935056098e-07,-6.174404788659078e-06,-0.00011132768676061467,-3.572175839489397e-05,1.7874235165304746e-05,0.00025116221891193527,-0.00010330444501563506,2.2072437538873572e-06,0.0001501142514210478,0.00025778810977375205,2.9233489404424883e-11,1.9597622600006865e-12,6.297207050764012e-15,5.264651384103809e-12,-7.855399299308534e-11,-9.38631332524363e-09],"joint_position_rad":[-1.5698888173309224,-1.5949081299525023,1.4716581292358129,-1.4477422544639242,-1.5707771432418869,0.0008990089179657856],"joint_velocity_rad_s":[-0.0002496694325624537,0.021941268378699964,-0.23323750495124923,0.20804251184654896,-6.559190935056098e-07,-6.174404788659078e-06],"linkage_position_rad":[0.002933018522980144,0.00015607835385780694,0.0031937042803002933,-0.0034281922345404166,0.002933052550837924,0.0001564575078180034,0.0031994965701403664,-0.0034365712068979296],"tcp_position_m":[-0.13443939467740976,0.47870820203476744,0.38028783440973957],"tcp_quaternion_wxyz":[-7.610996763853871e-05,0.707103771693302,0.707109783815866,6.242001323740067e-05],"object_position_m":[-0.1344419483520031,0.4789461432137861,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.278734573641122e-12,-1.907466478156755e-11,-6.368797173425227e-10],"object_linear_velocity_m_s":[2.9233489404424883e-11,1.9597622600006865e-12,6.297207050764012e-15],"object_angular_velocity_rad_s":[5.26465164212648e-12,-7.855399297578603e-11,-9.38631332524363e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489482820562,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698941800856154,-1.6002183656594,1.4152571956693223,-1.4111966633689583,-1.5707741686846122,0.0008977645476827818,0.0],"actuator_force":[0.08914226363867783,-19.396978765275435,-19.50686515248117,-2.5314556371719164,0.001552870546674967,-4.7446626360025945e-06,-0.2922303930320222],"issued_joint_targets_rad":[-1.5698987083124545,-1.5896433341258158,1.4206223472355315,-1.402015774942408,-1.5707755351164234,0.0008976268742350028],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.079999999999697,"joint_targets_rad":[-1.5698987083124545,-1.5896433341258158,1.4206223472355315,-1.402015774942408,-1.5707755351164234,0.0008976268742350028],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.099999999999704,"qpos":[-1.5698889346253413,-1.5944094723835172,1.4668168680816065,-1.4433986386988387,-1.5707769675306602,0.0008988766566643603,0.002933017772194009,0.00015607739569197608,0.0031937105788837033,-0.003428190520789626,0.0029330520281927184,0.00015645947245941847,0.003199514075027182,-0.00343656658297047,-0.13444194835145937,0.4789461432138226,0.2998922445797836,1.0,1.225380874774674e-12,-1.827910262238209e-11,-7.234380738607658e-10],"qvel":[-0.0002529159745643367,0.022818067624638536,-0.2341940280118641,0.2081251726482537,-6.234760416294293e-07,-6.213750183047334e-06,-0.00011133213884288692,-3.581657112872396e-05,1.891939998029271e-05,0.00025143204395873124,-0.00010324469349557178,2.4483471413718256e-06,0.00015237600837113096,0.0002581911870404302,3.492000337216259e-11,2.340910861600487e-12,6.297207050764012e-15,4.1818841574752975e-11,-6.23877988227864e-10,-1.7137037210114055e-08],"joint_position_rad":[-1.5698889346253413,-1.5944094723835172,1.4668168680816065,-1.4433986386988387,-1.5707769675306602,0.0008988766566643603],"joint_velocity_rad_s":[-0.0002529159745643367,0.022818067624638536,-0.2341940280118641,0.2081251726482537,-6.234760416294293e-07,-6.213750183047334e-06],"linkage_position_rad":[0.002933017772194009,0.00015607739569197608,0.0031937105788837033,-0.003428190520789626,0.0029330520281927184,0.00015645947245941847,0.003199514075027182,-0.00343656658297047],"tcp_position_m":[-0.13443938226311497,0.47870688272123635,0.3819817176214755],"tcp_quaternion_wxyz":[-7.581384434817828e-05,0.7071037664334334,0.7071097891444258,6.200030707372374e-05],"object_position_m":[-0.13444194835145937,0.4789461432138226,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.225380874774674e-12,-1.827910262238209e-11,-7.234380738607658e-10],"object_linear_velocity_m_s":[3.492000337216259e-11,2.340910861600487e-12,6.297207050764012e-15],"object_angular_velocity_rad_s":[4.181884129857812e-11,-6.23877988246372e-10,-1.7137037210114055e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093134892718707,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698943194770554,-1.5995531015461117,1.410230456133616,-1.4068365420276354,-1.57077399750829,0.0008976245290160015,0.0],"actuator_force":[0.09039668639752563,-19.414485375044478,-19.495212691235338,-2.53146892922382,0.0015473587892529395,-4.688805874675239e-06,-0.2922306058576441],"issued_joint_targets_rad":[-1.5698988485701402,-1.5889540044217905,1.4155691302991462,-1.3976528746446277,-1.570775362795362,0.0008974867219424686],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.099999999999704,"joint_targets_rad":[-1.5698988485701402,-1.5889540044217905,1.4155691302991462,-1.3976528746446277,-1.570775362795362,0.0008974867219424686],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.119999999999711,"qpos":[-1.5698890537975196,-1.5938926216972769,1.4619556875786548,-1.4390532082417409,-1.570776791922809,0.0008987436374008957,0.0029330171123548407,0.00015607643222123504,0.003193717055409507,-0.003428188867432708,0.0029330515974143527,0.0001564614471217105,0.0031995318145548683,-0.0034365620059679035,-0.1344419483509508,0.47894614321385665,0.2998922445797836,1.0,1.088449292412063e-12,-1.6236685009496805e-11,-8.031585604602492e-10],"qvel":[-0.0002561595983461002,0.02369685083371713,-0.2351580915782137,0.20821295341438373,-5.814022206846391e-07,-6.249954615051413e-06,-0.00011133836302822403,-3.5911962992980465e-05,1.9975959464271495e-05,0.0002517070755776233,-0.0001031862212463936,2.691511694199051e-06,0.00015465871073618668,0.00025860052274996153,4.444595262052464e-11,2.979501677598075e-12,6.293043714421668e-15,9.540475996951481e-11,-1.4231751251644782e-09,-3.128790245175395e-08],"joint_position_rad":[-1.5698890537975196,-1.5938926216972769,1.4619556875786548,-1.4390532082417409,-1.570776791922809,0.0008987436374008957],"joint_velocity_rad_s":[-0.0002561595983461002,0.02369685083371713,-0.2351580915782137,0.20821295341438373,-5.814022206846391e-07,-6.249954615051413e-06],"linkage_position_rad":[0.0029330171123548407,0.00015607643222123504,0.003193717055409507,-0.003428188867432708,0.0029330515974143527,0.0001564614471217105,0.0031995318145548683,-0.0034365620059679035],"tcp_position_m":[-0.13443936918558466,0.4787058522066355,0.3836753951116636],"tcp_quaternion_wxyz":[-7.548638081907976e-05,0.7071037615726923,0.7071097940795525,6.15493902549621e-05],"object_position_m":[-0.1344419483509508,0.47894614321385665,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.088449292412063e-12,-1.6236685009496805e-11,-8.031585604602492e-10],"object_linear_velocity_m_s":[4.444595262052464e-11,2.979501677598075e-12,6.293043714421668e-15],"object_angular_velocity_rad_s":[9.540475869946788e-11,-1.4231751252496178e-09,-3.128790245175395e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348905802773,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569894458856449,-1.5988694649682142,1.405182466782747,-1.4024735897031817,-1.5707738246222398,0.0008974843745576403,0.0],"actuator_force":[0.09165372147981543,-19.43242687536167,-19.483204960529747,-2.5314860721588275,0.0015417905067351967,-4.635960122567617e-06,-0.29223081256708655],"issued_joint_targets_rad":[-1.5698989882926113,-1.5882460173530926,1.4104942861705616,-1.3932870191405295,-1.5707751887122816,0.0008973471026402008],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.119999999999711,"joint_targets_rad":[-1.5698989882926113,-1.5882460173530926,1.4104942861705616,-1.3932870191405295,-1.5707751887122816,0.0008973471026402008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.139999999999717,"qpos":[-1.5698891744727776,-1.5933575341195407,1.4570744276219094,-1.4347058554382004,-1.5707766162392138,0.0008986099807633097,0.0029330165205054925,0.00015607546335272493,0.003193723687607353,-0.003428187252984729,0.0029330512355597925,0.00015646343218171738,0.0031995497682344356,-0.0034365574538614495,-0.13444194835039958,0.47894614321389367,0.2998922445797836,1.0,1.0907351211818994e-12,-1.6270768509098593e-11,-9.21841027220679e-10],"qvel":[-0.0002593993840586864,0.02457778088516706,-0.23612990182402327,0.20830594255824117,-5.303092105747017e-07,-6.280250469292167e-06,-0.00011134611976960876,-3.600796576119189e-05,2.1044402527924028e-05,0.000251987157560748,-0.0001031287711559451,2.9368017055327627e-06,0.00015696319997009358,0.00025901600854825427,2.0019699810930187e-11,1.3420502146534838e-12,6.2916559356408865e-15,-4.075158869651757e-11,6.079074157515284e-10,-3.389787998053947e-09],"joint_position_rad":[-1.5698891744727776,-1.5933575341195407,1.4570744276219094,-1.4347058554382004,-1.5707766162392138,0.0008986099807633097],"joint_velocity_rad_s":[-0.0002593993840586864,0.02457778088516706,-0.23612990182402327,0.20830594255824117,-5.303092105747017e-07,-6.280250469292167e-06],"linkage_position_rad":[0.0029330165205054925,0.00015607546335272493,0.003193723687607353,-0.003428187252984729,0.0029330512355597925,0.00015646343218171738,0.0031995497682344356,-0.0034365574538614495],"tcp_position_m":[-0.13443935567920726,0.4787051206988004,0.38536886834836054],"tcp_quaternion_wxyz":[-7.513071068206754e-05,0.7071037570208668,0.7071097987107614,6.107026415537091e-05],"object_position_m":[-0.13444194835039958,0.47894614321389367,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0907351211818994e-12,-1.6270768509098593e-11,-9.21841027220679e-10],"object_linear_velocity_m_s":[2.0019699810930187e-11,1.3420502146534838e-12,6.2916559356408865e-15],"object_angular_velocity_rad_s":[-4.075158746542066e-11,6.079074158340561e-10,-3.389787998053947e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488841477637,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698945975515866,-1.5981673809385488,1.4001130267031079,-1.398107681240051,-1.5707736499742488,0.0008973447528826462,0.0],"actuator_force":[0.09291359600547366,-19.450805992083133,-19.470841107993692,-2.5315071567495124,0.0015361634035571115,-4.588893402546201e-06,-0.2922310133486365],"issued_joint_targets_rad":[-1.5698991267564708,-1.5875192925867772,1.405397607237395,-1.3889180814933253,-1.5707750128135318,0.0008972087384183942],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.139999999999717,"joint_targets_rad":[-1.5698991267564708,-1.5875192925867772,1.405397607237395,-1.3889180814933253,-1.5707750128135318,0.0008972087384183942],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.159999999999724,"qpos":[-1.56988929623731,-1.5928041624049583,1.4521729236692764,-1.4303564708012153,-1.5707764403127842,0.0008984758647440498,0.002933015978215952,0.0001560744889816348,0.0031937304577265243,-0.0034281856602259232,0.002933050924209996,0.00015646542800771353,0.003199567920114017,-0.0034365529088652637,-0.13444194834983653,0.47894614321393136,0.2998922445797836,1.0,1.1506189699500904e-12,-1.7163862962602143e-11,-1.0737206155823596e-09],"qvel":[-0.0002626343541594909,0.025461026709233656,-0.2371096750528133,0.20840422810697598,-4.7073425537546764e-07,-6.3018897356521005e-06,-0.00011135521907263482,-3.6104613560928733e-05,2.2125183473174335e-05,0.0002522721846403709,-0.00010307213455801525,3.184285318390967e-06,0.00015929030622742498,0.0002594375912392253,2.1707952286727444e-11,1.4552432630910929e-12,6.29304371442167e-15,-3.2162770381456044e-11,4.797837508011919e-10,-6.18889674024414e-09],"joint_position_rad":[-1.56988929623731,-1.5928041624049583,1.4521729236692764,-1.4303564708012153,-1.5707764403127842,0.0008984758647440498],"joint_velocity_rad_s":[-0.0002626343541594909,0.025461026709233656,-0.2371096750528133,0.20840422810697598,-4.7073425537546764e-07,-6.3018897356521005e-06],"linkage_position_rad":[0.002933015978215952,0.0001560744889816348,0.0031937304577265243,-0.0034281856602259232,0.002933050924209996,0.00015646542800771353,0.003199567920114017,-0.0034365529088652637],"tcp_position_m":[-0.13443934199452015,0.4787046989578913,0.3870621384894277],"tcp_quaternion_wxyz":[-7.474965664116019e-05,0.7071037526942439,0.7071098031211351,6.056562827912922e-05],"object_position_m":[-0.13444194834983653,0.47894614321393136,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1506189699500904e-12,-1.7163862962602143e-11,-1.0737206155823596e-09],"object_linear_velocity_m_s":[2.1707952286727444e-11,1.4552432630910929e-12,6.29304371442167e-15],"object_angular_velocity_rad_s":[-3.216276913869789e-11,4.797837508845016e-10,-6.18889674024414e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488622364537,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698947348365402,-1.597446769859314,1.3950219285551264,-1.3937386897137143,-1.570773473510124,0.0008972063860916294,0.0],"actuator_force":[0.09417654320350266,-19.469625592404554,-19.45812020717449,-2.531532266947238,0.001530474755668365,-4.550352645016353e-06,-0.29223120835314415],"issued_joint_targets_rad":[-1.5698992631784279,-1.5867737447459356,1.4002788790207434,-1.3845459329564496,-1.5707748350432116,0.0008970724112537294],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.159999999999724,"joint_targets_rad":[-1.5698992631784279,-1.5867737447459356,1.4002788790207434,-1.3845459329564496,-1.5707748350432116,0.0008970724112537294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.179999999999731,"qpos":[-1.5698894186350043,-1.5922324556922738,1.4472510065150253,-1.4260049430136839,-1.5707762639870926,0.0008983415249480194,0.002933015470719164,0.00015607350899210192,0.003193737351670537,-0.003428184075387814,0.0029330506486052177,0.00015646743496014785,0.0031995862579148244,-0.0034365483566197986,-0.13444194834928874,0.47894614321396806,0.2998922445797836,1.0,1.1885745223103082e-12,-1.7730082442078357e-11,-1.2437057034872585e-09],"qvel":[-0.00026586346123109257,0.026346764475440897,-0.2380976386838172,0.2085078979354596,-4.0314549845426084e-07,-6.3121129413089234e-06,-0.00011136551177606794,-3.620194312694065e-05,2.3218733090854786e-05,0.0002525620964064717,-0.00010301614235826103,3.4340352740831616e-06,0.000161640862558434,0.0002598652667138428,2.3941149064481496e-11,1.6049464276145213e-12,6.298594829544797e-15,-1.7732625985229708e-11,2.645115890019476e-10,-1.1299362591362354e-08],"joint_position_rad":[-1.5698894186350043,-1.5922324556922738,1.4472510065150253,-1.4260049430136839,-1.5707762639870926,0.0008983415249480194],"joint_velocity_rad_s":[-0.00026586346123109257,0.026346764475440897,-0.2380976386838172,0.2085078979354596,-4.0314549845426084e-07,-6.3121129413089234e-06],"linkage_position_rad":[0.002933015470719164,0.00015607350899210192,0.003193737351670537,-0.003428184075387814,0.0029330506486052177,0.00015646743496014785,0.0031995862579148244,-0.0034365483566197986],"tcp_position_m":[-0.13443932840014763,0.4787045983660647,0.388755206407153],"tcp_quaternion_wxyz":[-7.43457607773179e-05,0.7071037485145542,0.7071098073883737,6.0037909542374937e-05],"object_position_m":[-0.13444194834928874,0.47894614321396806,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1885745223103082e-12,-1.7730082442078357e-11,-1.2437057034872585e-09],"object_linear_velocity_m_s":[2.3941149064481496e-11,1.6049464276145213e-12,6.298594829544797e-15],"object_angular_velocity_rad_s":[-1.7732624926603304e-11,2.645115890729162e-10,-1.1299362591362354e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488400798618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698948699253008,-1.5967075471474412,1.3899089581506896,-1.3893664863865574,-1.5707732951734577,0.0008970700561704238,0.0],"actuator_force":[0.09544280389945925,-19.48888870051087,-19.445041255144133,-2.5315614799826562,0.0015247213673319493,-4.523094666919469e-06,-0.2922313976955474],"issued_joint_targets_rad":[-1.569899396707952,-1.5860092829753472,1.3951378796939153,-1.3801704429279495,-1.5707746553429074,0.0008969389703380532],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.179999999999731,"joint_targets_rad":[-1.569899396707952,-1.5860092829753472,1.3951378796939153,-1.3801704429279495,-1.5707746553429074,0.0008969389703380532],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.199999999999737,"qpos":[-1.5698895411636948,-1.5916423593325095,1.4423085020397433,-1.421651158926136,-1.5707760871151177,0.00089820725547849,0.0029330149862060945,0.00015607252325756292,0.0031937443582881983,-0.0034281824874931957,0.002933050396939491,0.00015646945339220058,0.0031996047723222938,-0.0034365437855158032,-0.13444194834875894,0.4789461432140036,0.2998922445797836,1.0,1.1917152039813967e-12,-1.7776707764827487e-11,-1.4284424851507997e-09],"qvel":[-0.000269085574046978,0.02723517893307806,-0.23909403241459273,0.20861703998153588,-3.279464142182379e-07,-6.308116612278934e-06,-0.00011137688270376395,-3.6299994256213004e-05,2.4325467280940858e-05,0.00025285687067996783,-0.00010296065801680615,3.6861292749869736e-06,0.00016401571734604847,0.0002602990743818558,2.7244321720648342e-11,1.826411387395555e-12,6.2999826083255794e-15,4.9043139784589846e-12,-7.313120792880398e-11,-2.0629782690255828e-08],"joint_position_rad":[-1.5698895411636948,-1.5916423593325095,1.4423085020397433,-1.421651158926136,-1.5707760871151177,0.00089820725547849],"joint_velocity_rad_s":[-0.000269085574046978,0.02723517893307806,-0.23909403241459273,0.20861703998153588,-3.279464142182379e-07,-6.308116612278934e-06],"linkage_position_rad":[0.0029330149862060945,0.00015607252325756292,0.0031937443582881983,-0.0034281824874931957,0.002933050396939491,0.00015646945339220058,0.0031996047723222938,-0.0034365437855158032],"tcp_position_m":[-0.13443931518498595,0.4787048310057916,0.39044807271001175],"tcp_quaternion_wxyz":[-7.392131187077011e-05,0.7071037444079583,0.707109811585802,5.948928866048391e-05],"object_position_m":[-0.13444194834875894,0.4789461432140036,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1917152039813967e-12,-1.7776707764827487e-11,-1.4284424851507997e-09],"object_linear_velocity_m_s":[2.7244321720648342e-11,1.826411387395555e-12,6.2999826083255794e-15],"object_angular_velocity_rad_s":[4.904314502990772e-12,-7.313120789364539e-11,-2.0629782690255828e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488176862743,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698950019644378,-1.5959496228034722,1.3847738939721663,-1.3849909406624956,-1.5707731149053625,0.0008969366123188859,0.0],"actuator_force":[0.09671262813253634,-19.508598515156336,-19.43160316931653,-2.531594866333421,0.0015188995190555943,-4.509918574147065e-06,-0.2922315814536764],"issued_joint_targets_rad":[-1.5698995264187714,-1.5852258104382024,1.3899743795308432,-1.375791478903648,-1.5707744736513989,0.0008968093405623042],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.199999999999737,"joint_targets_rad":[-1.5698995264187714,-1.5852258104382024,1.3899743795308432,-1.375791478903648,-1.5707744736513989,0.0008968093405623042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.219999999999744,"qpos":[-1.5698896632707693,-1.5910338146863,1.4373452309325143,-1.4172950035500471,-1.5707759095580722,0.0008980734105458624,0.0029330145152508184,0.00015607153164107172,0.0031937514687948093,-0.003428180887806859,0.0029330501597849396,0.0001564714836500002,0.003199623456408313,-0.003436539186156504,-0.13444194834825227,0.47894614321403756,0.2998922445797836,1.0,1.1419876267645228e-12,-1.7034814159885403e-11,-1.6186854552678368e-09],"qvel":[-0.00027229946152802385,0.028126464944936515,-0.2400991095984578,0.20873174244393447,-2.4547950324984115e-07,-6.2870185517526194e-06,-0.00011138924506252087,-3.6398810285247556e-05,2.544579532450487e-05,0.00025315651985078843,-0.00010290557172159451,3.940650850215622e-06,0.00016641574712880872,0.000260739094227856,3.254280882175763e-11,2.1816225724463913e-12,6.297207050764017e-15,3.897413464356305e-11,-5.813597273217117e-10,-3.766477360100025e-08],"joint_position_rad":[-1.5698896632707693,-1.5910338146863,1.4373452309325143,-1.4172950035500471,-1.5707759095580722,0.0008980734105458624],"joint_velocity_rad_s":[-0.00027229946152802385,0.028126464944936515,-0.2400991095984578,0.20873174244393447,-2.4547950324984115e-07,-6.2870185517526194e-06],"linkage_position_rad":[0.0029330145152508184,0.00015607153164107172,0.0031937514687948093,-0.003428180887806859,0.0029330501597849396,0.0001564714836500002,0.003199623456408313,-0.003436539186156504],"tcp_position_m":[-0.13443930266069068,0.47870540974865133,0.39214073776180347],"tcp_quaternion_wxyz":[-7.34783700464544e-05,0.7071037403040598,0.7071098157833532,5.8921723918224994e-05],"object_position_m":[-0.13444194834825227,0.47894614321403756,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1419876267645228e-12,-1.7034814159885403e-11,-1.6186854552678368e-09],"object_linear_velocity_m_s":[3.254280882175763e-11,2.1816225724463913e-12,6.297207050764017e-15],"object_angular_velocity_rad_s":[3.897413404471082e-11,-5.813597273618599e-10,-3.766477360100025e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487950617699,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698951300246033,-1.5951729009121247,1.379616506621143,-1.3806119200403322,-1.5707729326441733,0.0008968069794349248,0.0],"actuator_force":[0.09798627694317474,-19.528758429624304,-19.41780478335977,-2.5316324895360367,0.0015130048998344137,-4.513700293584666e-06,-0.29223175966786735],"issued_joint_targets_rad":[-1.569899651298971,-1.5844232237288967,1.3847881402692348,-1.3714089064291952,-1.570774289904314,0.0008966845323991579],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.219999999999744,"joint_targets_rad":[-1.569899651298971,-1.5844232237288967,1.3847881402692348,-1.3714089064291952,-1.570774289904314,0.0008966845323991579],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.239999999999751,"qpos":[-1.5698897843479824,-1.5904067588855375,1.4323610083800327,-1.4129363600470155,-1.570775731184324,0.0008979404068629109,0.002933014050341252,0.00015607053399546413,0.0031937586762935143,-0.0034281792694002195,0.002933049929621492,0.00015647352607172613,0.00319964230515053,-0.0034365345509086457,-0.13444194834777834,0.4789461432140692,0.2998922445797836,1.0,1.014379366867725e-12,-1.5131241016513752e-11,-1.7938997610071792e-09],"qvel":[-0.00027550377416566194,0.02902082926590823,-0.2411131388854891,0.20885209396348958,-1.5602910415325434e-07,-6.245820027158205e-06,-0.00011140253611403527,-3.649843873152306e-05,2.6580127551831317e-05,0.000253461087073389,-0.00010285079580320557,4.197690177478374e-06,0.000168841869837446,0.0002611854432501532,4.1419741400863884e-11,2.776716433941787e-12,6.298594829544798e-15,8.891029129880284e-11,-1.3262497959593656e-09,-6.876636526857483e-08],"joint_position_rad":[-1.5698897843479824,-1.5904067588855375,1.4323610083800327,-1.4129363600470155,-1.570775731184324,0.0008979404068629109],"joint_velocity_rad_s":[-0.00027550377416566194,0.02902082926590823,-0.2411131388854891,0.20885209396348958,-1.5602910415325434e-07,-6.245820027158205e-06],"linkage_position_rad":[0.002933014050341252,0.00015607053399546413,0.0031937586762935143,-0.0034281792694002195,0.002933049929621492,0.00015647352607172613,0.00319964230515053,-0.0034365345509086457],"tcp_position_m":[-0.13443929116452855,0.4787063483568378,0.3938332016983454],"tcp_quaternion_wxyz":[-7.301878899112298e-05,0.7071037361349154,0.7071098200485534,5.833697258606439e-05],"object_position_m":[-0.13444194834777834,0.4789461432140692,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.014379366867725e-12,-1.5131241016513752e-11,-1.7938997610071792e-09],"object_linear_velocity_m_s":[4.1419741400863884e-11,2.776716433941787e-12,6.298594829544798e-15],"object_angular_velocity_rad_s":[8.891028862152534e-11,-1.3262497961388474e-09,-6.876636526857483e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348772210681,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569895253090635,-1.594377279059647,1.3744365581819316,-1.376229290065972,-1.5707727483250982,0.0008966821679972422,0.0],"actuator_force":[0.09926402436121862,-19.54937205458282,-19.403644842006543,-2.531674405827175,0.001507032523363705,-4.537430118578545e-06,-0.29223193233855105],"issued_joint_targets_rad":[-1.5698997702394075,-1.5836014121827917,1.3795789143694184,-1.3670225890511158,-1.5707741040337257,0.0008965656534711004],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.239999999999751,"joint_targets_rad":[-1.5698997702394075,-1.5836014121827917,1.3795789143694184,-1.3670225890511158,-1.5707741040337257,0.0008965656534711004],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.259999999999757,"qpos":[-1.5698899037253389,-1.5897611245531889,1.4273556437161017,-1.408575109714058,-1.570775551868368,0.0008978087269113243,0.002933013585496561,0.00015606953016370477,0.003193765975384378,-0.003428177626795516,0.0029330497004530685,0.00015647558098728294,0.0031996613150372796,-0.0034365298735412777,-0.1344419483472646,0.4789461432141038,0.2998922445797836,1.0,1.0165020974036434e-12,-1.516290367524258e-11,-2.0547469646264103e-09],"qvel":[-0.00027869702233869383,0.029918492632301095,-0.24213640619010657,0.20897818378806532,-5.982344942278009e-08,-6.18136384636606e-06,-0.00011141671376889378,-3.659893200319088e-05,2.7728882606040417e-05,0.0002537706453558834,-0.00010279626100729427,4.457345156636622e-06,0.00017129505891085576,0.00026163827718179484,1.8656603482037218e-11,1.2507143244810079e-12,6.2999826083255794e-15,-3.7978688847071075e-11,5.66518968484118e-10,-7.450272537523776e-09],"joint_position_rad":[-1.5698899037253389,-1.5897611245531889,1.4273556437161017,-1.408575109714058,-1.570775551868368,0.0008978087269113243],"joint_velocity_rad_s":[-0.00027869702233869383,0.029918492632301095,-0.24213640619010657,0.20897818378806532,-5.982344942278009e-08,-6.18136384636606e-06],"linkage_position_rad":[0.002933013585496561,0.00015606953016370477,0.003193765975384378,-0.003428177626795516,0.0029330497004530685,0.00015647558098728294,0.0031996613150372796,-0.0034365298735412777],"tcp_position_m":[-0.13443928106267658,0.47870766160013783,0.39552546444188497],"tcp_quaternion_wxyz":[-7.25442359972432e-05,0.7071037318340259,0.707109824447526,5.77366102008821e-05],"object_position_m":[-0.1344419483472646,0.4789461432141038,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0165020974036434e-12,-1.516290367524258e-11,-2.0547469646264103e-09],"object_linear_velocity_m_s":[1.8656603482037218e-11,1.2507143244810079e-12,6.2999826083255794e-15],"object_angular_velocity_rad_s":[-3.797868629302928e-11,5.665189686553376e-10,-7.450272537523776e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487491359548,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698953700499736,-1.5935626476489826,1.3692338014808065,-1.3718429142836046,-1.5707725618798123,0.0008965632856334918,0.0],"actuator_force":[0.10054615966600977,-19.57044324450817,-19.389121994547622,-2.53172066357979,0.0015009766228786248,-4.584254279682565e-06,-0.29223209942360057],"issued_joint_targets_rad":[-1.5698998820200667,-1.5827602570583965,1.3743464441444844,-1.362632388267064,-1.5707739159676806,0.0008964539221669229],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.259999999999757,"joint_targets_rad":[-1.5698998820200667,-1.5827602570583965,1.3743464441444844,-1.362632388267064,-1.5707739159676806,0.0008964539221669229],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.279999999999764,"qpos":[-1.569890020663836,-1.5890968394734517,1.4223289400233456,-1.4042111319652761,-1.570775371489867,0.0008976789231906513,0.0029330131159541733,0.00015606851997879828,0.0031937733618363187,-0.0034281759556670957,0.0029330494674929377,0.00015647764871614553,0.0031996804837365633,-0.0034365251489241705,-0.13444194834677134,0.478946143214137,0.2998922445797836,1.0,1.0209108534527773e-12,-1.5229212140341818e-11,-2.3506969458834062e-09],"qvel":[-0.0002818775508734877,0.030819692246745516,-0.24316921706714148,0.20911010192099708,4.296422609144905e-08,-6.090287051271494e-06,-0.00011143175408048956,-3.670034833933127e-05,2.8892494743592107e-05,0.0002540852967880524,-0.00010274191358705019,4.71972277294561e-06,0.00017377635911331046,0.0002620977901021567,1.954810192517114e-11,1.3104331415148252e-12,6.298594829544796e-15,-2.766583227381686e-11,4.1266987650973386e-10,-1.3602316277301734e-08],"joint_position_rad":[-1.569890020663836,-1.5890968394734517,1.4223289400233456,-1.4042111319652761,-1.570775371489867,0.0008976789231906513],"joint_velocity_rad_s":[-0.0002818775508734877,0.030819692246745516,-0.24316921706714148,0.20911010192099708,4.296422609144905e-08,-6.090287051271494e-06],"linkage_position_rad":[0.0029330131159541733,0.00015606851997879828,0.0031937733618363187,-0.0034281759556670957,0.0029330494674929377,0.00015647764871614553,0.0031996804837365633,-0.0034365251489241705],"tcp_position_m":[-0.13443927275406978,0.47870936539183906,0.397217525713354],"tcp_quaternion_wxyz":[-7.20562100349837e-05,0.7071037273352692,0.7071098290460565,5.712204792603948e-05],"object_position_m":[-0.13444194834677134,0.478946143214137,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0209108534527773e-12,-1.5229212140341818e-11,-2.3506969458834062e-09],"object_linear_velocity_m_s":[1.954810192517114e-11,1.3104331415148252e-12,6.298594829544796e-15],"object_angular_velocity_rad_s":[-2.7665829919388102e-11,4.126698766675754e-10,-1.3602316277301734e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487258394712,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698954796790245,-1.5927288890883553,1.364007979216579,-1.3674526541860605,-1.5707723732359842,0.00089645155073685,0.0],"actuator_force":[0.10183298997253587,-19.59197612850585,-19.37423478667688,-2.5317713024919613,0.0014948305188227096,-4.6575217734767804e-06,-0.2922322608340179],"issued_joint_targets_rad":[-1.5698999852939133,-1.5818996305601112,1.3690904607300811,-1.3582381634756056,-1.5707737256296277,0.0008963506837633008],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.279999999999764,"joint_targets_rad":[-1.5698999852939133,-1.5818996305601112,1.3690904607300811,-1.3582381634756056,-1.5707737256296277,0.0008963506837633008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.299999999999771,"qpos":[-1.5698901343468312,-1.5884138262022653,1.4172806936768088,-1.39984430431011,-1.5707751899327216,0.0008975516235934487,0.0029330126379135376,0.00015606750326398815,0.003193780832312821,-0.003428174252612956,0.002933049226905401,0.00015647972956473735,0.0031996998098112704,-0.0034365203727840755,-0.1344419483463021,0.47894614321416845,0.2998922445797836,1.0,1.0224091271141668e-12,-1.525203105552889e-11,-2.6799822417288403e-09],"qvel":[-0.0002850435089571068,0.03172468476965483,-0.2442118996040341,0.2092479392519297,1.522155743860366e-07,-5.968966648913674e-06,-0.00011144764949414539,-3.68027529509229e-05,3.0071421548707864e-05,0.000254405172687756,-0.00010268771306208083,4.984940739397376e-06,0.00017628690441195836,0.0002625642168231134,2.1137731310936523e-11,1.4169541570928505e-12,6.295819271983234e-15,-1.2587707743403732e-11,1.8774854376006516e-10,-2.4834394592084225e-08],"joint_position_rad":[-1.5698901343468312,-1.5884138262022653,1.4172806936768088,-1.39984430431011,-1.5707751899327216,0.0008975516235934487],"joint_velocity_rad_s":[-0.0002850435089571068,0.03172468476965483,-0.2442118996040341,0.2092479392519297,1.522155743860366e-07,-5.968966648913674e-06],"linkage_position_rad":[0.0029330126379135376,0.00015606750326398815,0.003193780832312821,-0.003428174252612956,0.002933049226905401,0.00015647972956473735,0.0031996998098112704,-0.0034365203727840755],"tcp_position_m":[-0.1344392666749182,0.47871147694791694,0.3989093850425572],"tcp_quaternion_wxyz":[-7.155605806310716e-05,0.7071037225717477,0.7071098339107388,5.64945481772241e-05],"object_position_m":[-0.1344419483463021,0.47894614321416845,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0224091271141668e-12,-1.525203105552889e-11,-2.6799822417288403e-09],"object_linear_velocity_m_s":[2.1137731310936523e-11,1.4169541570928505e-12,6.295819271983234e-15],"object_angular_velocity_rad_s":[-1.258770597952829e-11,1.8774854387831665e-10,-2.4834394592084225e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487023223148,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698955806270094,-1.5918758768216243,1.358758822930867,-1.3630583691646703,-1.5707721823167007,0.0008963483085876643,0.0],"actuator_force":[0.10312484322639648,-19.613975146579833,-19.358981650269925,-2.53182635247299,0.0014885864529787796,-4.7608380008834494e-06,-0.29223241642816583],"issued_joint_targets_rad":[-1.5699000785676347,-1.5810193946596707,1.3638106828523255,-1.353839771925957,-1.5707735329377333,0.0008962574296517274],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.299999999999771,"joint_targets_rad":[-1.5699000785676347,-1.5810193946596707,1.3638106828523255,-1.353839771925957,-1.5707735329377333,0.0008962574296517274],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.319999999999777,"qpos":[-1.5698902438697,-1.5877120016052741,1.412210693816272,-1.3954745023284103,-1.5707750070841686,0.0008974275380934905,0.0029330121483254843,0.0001560664798328741,0.0031937883841369656,-0.0034281725149590842,0.0029330489755924243,0.00015648182382259484,0.0031997192924718863,-0.0034365155415066323,-0.13444194834587822,0.4789461432141969,0.2998922445797836,1.0,9.501001543537955e-13,-1.4173670071695813e-11,-2.987708719124638e-09],"qvel":[-0.0002881928143397915,0.03263374996414013,-0.24526480797240727,0.20939178766833436,2.678681902682233e-07,-5.813456292836415e-06,-0.0001114644078445924,-3.690621946407987e-05,3.126615279290251e-05,0.00025473043628788656,-0.00010263363058695184,5.253129591707324e-06,0.00017882794045002734,0.00026303783750450003,2.3551189902368784e-11,1.5786944224773275e-12,6.290268156860109e-15,1.0737699114769621e-11,-1.6021885500541114e-10,-4.5341333150227155e-08],"joint_position_rad":[-1.5698902438697,-1.5877120016052741,1.412210693816272,-1.3954745023284103,-1.5707750070841686,0.0008974275380934905],"joint_velocity_rad_s":[-0.0002881928143397915,0.03263374996414013,-0.24526480797240727,0.20939178766833436,2.678681902682233e-07,-5.813456292836415e-06],"linkage_position_rad":[0.0029330121483254843,0.0001560664798328741,0.0031937883841369656,-0.0034281725149590842,0.0029330489755924243,0.00015648182382259484,0.0031997192924718863,-0.0034365155415066323],"tcp_position_m":[-0.13443926330406453,0.47871401497506766,0.4006010417763562],"tcp_quaternion_wxyz":[-7.104498975786999e-05,0.7071037174744953,0.7071098391102685,5.585523868502556e-05],"object_position_m":[-0.13444194834587822,0.4789461432141969,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.501001543537955e-13,-1.4173670071695813e-11,-2.987708719124638e-09],"object_linear_velocity_m_s":[2.3551189902368784e-11,1.5786944224773275e-12,6.290268156860109e-15],"object_angular_velocity_rad_s":[1.0737699442701275e-11,-1.6021885498341576e-10,-4.5341333150227155e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348678585024,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698956713967125,-1.5910034741588068,1.353486051776535,-1.3586599164590425,-1.5707719890397804,0.000896255050580448,0.0],"actuator_force":[0.10442207171081463,-19.63644509272126,-19.343360890510667,-2.5318858321494417,0.0014822353750787443,-4.898127237529248e-06,-0.2922325660037377],"issued_joint_targets_rad":[-1.5699001601785307,-1.5801193996606824,1.358506815338721,-1.349437068668343,-1.5707733378040398,0.0008961758204125106],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.319999999999777,"joint_targets_rad":[-1.5699001601785307,-1.5801193996606824,1.358506815338721,-1.349437068668343,-1.5707733378040398,0.0008961758204125106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.339999999999784,"qpos":[-1.5698903482273818,-1.5869912763065028,1.4071187217303054,-1.3911015996425524,-1.5707748228338887,0.0008973074669864133,0.0029330116447178647,0.00015606544948941576,0.003193796015083167,-0.0034281707406065933,0.002933048711015728,0.00015648393175662724,0.0031997389313497457,-0.0034365106519610947,-0.13444194834550718,0.47894614321422174,0.2998922445797836,1.0,8.03569342801326e-13,-1.1987827843207251e-11,-3.2421447576793405e-09],"qvel":[-0.0002913231104313928,0.033547195191444855,-0.24632832683159028,0.2095417401444047,3.8991808023401033e-07,-5.619411378282664e-06,-0.00011148205202503557,-3.701083175315402e-05,3.247721994813487e-05,0.0002550612847348999,-0.00010257964782671005,5.5244353605255445e-06,0.0001814008510093173,0.0002635189844405261,2.7940406337188578e-11,1.8729013053277566e-12,6.295819271983235e-15,4.4269925259874313e-11,-6.604396408194148e-10,-8.27818241480105e-08],"joint_position_rad":[-1.5698903482273818,-1.5869912763065028,1.4071187217303054,-1.3911015996425524,-1.5707748228338887,0.0008973074669864133],"joint_velocity_rad_s":[-0.0002913231104313928,0.033547195191444855,-0.24632832683159028,0.2095417401444047,3.8991808023401033e-07,-5.619411378282664e-06],"linkage_position_rad":[0.0029330116447178647,0.00015606544948941576,0.003193796015083167,-0.0034281707406065933,0.002933048711015728,0.00015648393175662724,0.0031997389313497457,-0.0034365106519610947],"tcp_position_m":[-0.13443926316938315,0.4787169998947556,0.4022924950848572],"tcp_quaternion_wxyz":[-7.052409082813931e-05,0.7071037119709845,0.7071098447169301,5.5205125156249206e-05],"object_position_m":[-0.13444194834550718,0.47894614321422174,0.2998922445797836],"object_quaternion_wxyz":[1.0,8.03569342801326e-13,-1.1987827843207251e-11,-3.2421447576793405e-09],"object_linear_velocity_m_s":[2.7940406337188578e-11,1.8729013053277566e-12,6.295819271983235e-15],"object_angular_velocity_rad_s":[4.426992296214099e-11,-6.604396409734319e-10,-8.27818241480105e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348654627818,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698957503213715,-1.5901115328514994,1.3481893710291994,-1.3542571511074315,-1.5707717933169292,0.0008961734372979348,0.0],"actuator_force":[0.10572505619302319,-19.659391166571368,-19.327370669575885,-2.531949746880059,0.0014757666717741813,-5.073706410951839e-06,-0.29223270928742096],"issued_joint_targets_rad":[-1.5699002282665773,-1.5791994824313678,1.3531785472979483,-1.3450299065059488,-1.5707731401334237,0.0008961077137055192],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.339999999999784,"joint_targets_rad":[-1.5699002282665773,-1.5791994824313678,1.3531785472979483,-1.3450299065059488,-1.5707731401334237,0.0008961077137055192],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.359999999999791,"qpos":[-1.5698904462992653,-1.5862515540257351,1.4020045501298644,-1.386725467886844,-1.5707746370731013,0.0008971923109910916,0.002933011125049748,0.00015606441202880295,0.0031938037231876823,-0.0034281689279032136,0.002933048431046186,0.00015648605360277782,0.0031997587262788296,-0.0034365057013631224,-0.13444194834514622,0.47894614321424595,0.2998922445797836,1.0,7.212601834747361e-13,-1.075994042080058e-11,-3.556155935281388e-09],"qvel":[-0.00029443171456400096,0.03446536102485831,-0.2474028768464926,0.20969789080229925,5.184238758105709e-07,-5.381999212109009e-06,-0.00011150062049245859,-3.711668641567902e-05,3.370520847316868e-05,0.0002553979559010167,-0.0001025257564313697,5.799022959464696e-06,0.00018400719169968274,0.00026400804922982945,1.3337595068984235e-11,8.940455858324457e-13,6.2985948295447984e-15,-2.984334492271673e-11,4.4521117496040045e-10,-8.968732731346428e-09],"joint_position_rad":[-1.5698904462992653,-1.5862515540257351,1.4020045501298644,-1.386725467886844,-1.5707746370731013,0.0008971923109910916],"joint_velocity_rad_s":[-0.00029443171456400096,0.03446536102485831,-0.2474028768464926,0.20969789080229925,5.184238758105709e-07,-5.381999212109009e-06],"linkage_position_rad":[0.002933011125049748,0.00015606441202880295,0.0031938037231876823,-0.0034281689279032136,0.002933048431046186,0.00015648605360277782,0.0031997587262788296,-0.0034365057013631224],"tcp_position_m":[-0.1344392668554995,0.4787204541126696,0.4039837439655778],"tcp_quaternion_wxyz":[-6.999433508042297e-05,0.7071037059833528,0.7071098508083676,5.454510267681838e-05],"object_position_m":[-0.13444194834514622,0.47894614321424595,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.212601834747361e-13,-1.075994042080058e-11,-3.556155935281388e-09],"object_linear_velocity_m_s":[1.3337595068984235e-11,8.940455858324457e-13,6.2985948295447984e-15],"object_angular_velocity_rad_s":[-2.984334156322995e-11,4.452111751855932e-10,-8.968732731346428e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486304508244,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698958155367435,-1.5891998913387602,1.3428684702676816,-1.3498499258986543,-1.5707715950526957,0.000896105326401874,0.0],"actuator_force":[0.10703421086873277,-19.68281903599336,-19.31100898576824,-2.5320180861350536,0.0014691678152303211,-5.292373397913774e-06,-0.29223284592017756],"issued_joint_targets_rad":[-1.569900280740379,-1.5782594642031884,1.3478255498673237,-1.3406181359498688,-1.5707729398222903,0.000896055198260608],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.359999999999791,"joint_targets_rad":[-1.569900280740379,-1.5782594642031884,1.3478255498673237,-1.3406181359498688,-1.5707729398222903,0.000896055198260608],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.379999999999797,"qpos":[-1.5698905368306897,-1.5854927307753859,1.3968679422820585,-1.3823459766745103,-1.570774449693624,0.0008970830836119608,0.002933010587587381,0.00015606336723799033,0.003193811506564086,-0.003428167075547343,0.0029330481338334983,0.00015648818955498134,0.0031997786770702782,-0.0034365006871568005,-0.1344419483447977,0.47894614321426937,0.2998922445797836,1.0,7.030689227203853e-13,-1.0488447410940394e-11,-3.958000375378214e-09],"qvel":[-0.0002975155551383513,0.03538862835241289,-0.24848892168286496,0.20986033493801007,6.535132724944633e-07,-5.09578980075077e-06,-0.00011152016848192366,-3.722389579830735e-05,3.495077262570056e-05,0.0002557407344504358,-0.00010247195790737164,6.077080754540633e-06,0.00018664873343480476,0.00026450549776813574,1.3387060809495355e-11,8.97370659003262e-13,6.297207050764018e-15,-2.1975929925577517e-11,3.27844781879675e-10,-1.6374641074935788e-08],"joint_position_rad":[-1.5698905368306897,-1.5854927307753859,1.3968679422820585,-1.3823459766745103,-1.570774449693624,0.0008970830836119608],"joint_velocity_rad_s":[-0.0002975155551383513,0.03538862835241289,-0.24848892168286496,0.20986033493801007,6.535132724944633e-07,-5.09578980075077e-06],"linkage_position_rad":[0.002933010587587381,0.00015606336723799033,0.003193811506564086,-0.003428167075547343,0.0029330481338334983,0.00015648818955498134,0.0031997786770702782,-0.0034365006871568005],"tcp_position_m":[-0.13443927501319108,0.4787244023460078,0.4056747872455148],"tcp_quaternion_wxyz":[-6.945659539948798e-05,0.7071036994262332,0.7071098574697541,5.387596600538975e-05],"object_position_m":[-0.1344419483447977,0.47894614321426937,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.030689227203853e-13,-1.0488447410940394e-11,-3.958000375378214e-09],"object_linear_velocity_m_s":[1.3387060809495355e-11,8.97370659003262e-13,6.297207050764018e-15],"object_angular_velocity_rad_s":[-2.1975926986868853e-11,3.2784478207666145e-10,-1.6374641074935788e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486060543327,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698958649470591,-1.5882683725617166,1.3375230211222187,-1.3454380913269615,-1.5707713941431647,0.0008960528066235022,0.0],"actuator_force":[0.10834998931613882,-19.70673491362686,-19.29427364653384,-2.5320908200266103,0.0014624239023532937,-5.559514154207523e-06,-0.2922329754390975],"issued_joint_targets_rad":[-1.56990031523534,-1.5772991477933418,1.3424474733875966,-1.336201605179162,-1.5707727367569069,0.000896020635641515],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.379999999999797,"joint_targets_rad":[-1.56990031523534,-1.5772991477933418,1.3424474733875966,-1.336201605179162,-1.5707727367569069,0.000896020635641515],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.399999999999804,"qpos":[-1.569890618410094,-1.5847146938775034,1.3917086509646692,-1.3779629935626088,-1.5707742605868675,0.0008969809262827141,0.0029330100307956787,0.00015606231489723489,0.0031938193632090623,-0.0034281651825031705,0.002933047817688939,0.0001564903397480461,0.003199798783257513,-0.0034364956068989494,-0.1344419483444895,0.47894614321428997,0.2998922445797836,1.0,6.630645300140774e-13,-9.89154036143711e-12,-4.354398195674812e-09],"qvel":[-0.000300571094790864,0.03631742748806252,-0.24958697698986834,0.21002916900017934,7.953924627208779e-07,-4.754621433672029e-06,-0.00011154077041211761,-3.733259218248036e-05,3.6214654469723156e-05,0.0002560899627106081,-0.00010241826424360613,6.358826420664321e-06,0.00018932751929115374,0.0002650118849004932,1.370733024598182e-11,9.188530970986146e-13,6.301370387106363e-15,-1.0711095860596166e-11,1.5979564691022628e-10,-2.989595954046462e-08],"joint_position_rad":[-1.569890618410094,-1.5847146938775034,1.3917086509646692,-1.3779629935626088,-1.5707742605868675,0.0008969809262827141],"joint_velocity_rad_s":[-0.000300571094790864,0.03631742748806252,-0.24958697698986834,0.21002916900017934,7.953924627208779e-07,-4.754621433672029e-06],"linkage_position_rad":[0.0029330100307956787,0.00015606231489723489,0.0031938193632090623,-0.0034281651825031705,0.002933047817688939,0.0001564903397480461,0.003199798783257513,-0.0034364956068989494],"tcp_position_m":[-0.134439288370961,0.47872887202529996,0.40736562358095396],"tcp_quaternion_wxyz":[-6.891165379950922e-05,0.7071036922040267,0.7071098647965145,5.319841889621623e-05],"object_position_m":[-0.1344419483444895,0.47894614321428997,0.2998922445797836],"object_quaternion_wxyz":[1.0,6.630645300140774e-13,-9.89154036143711e-12,-4.354398195674812e-09],"object_linear_velocity_m_s":[1.370733024598182e-11,9.188530970986146e-13,6.301370387106363e-15],"object_angular_velocity_rad_s":[-1.0711093877534231e-11,1.597956470431529e-10,-2.989595954046462e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485814390789,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569895896183196,-1.5873167812056836,1.332152674450134,-1.3410214955519562,-1.5707711904742867,0.0008960182395274832,0.0],"actuator_force":[0.10967289171276207,-19.731145651585393,-19.277162233123363,-2.532167894691611,0.0014555170441781229,-5.881234248272804e-06,-0.2922330972509523],"issued_joint_targets_rad":[-1.5699003290618063,-1.5763183140505257,1.3370439438070343,-1.33178016000916,-1.5707725308112546,0.0008960067120214377],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.399999999999804,"joint_targets_rad":[-1.5699003290618063,-1.5763183140505257,1.3370439438070343,-1.33178016000916,-1.5707725308112546,0.0008960067120214377],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.419999999999811,"qpos":[-1.5698906894404703,-1.5839173207471309,1.3865264171875915,-1.3735763840153348,-1.5707740696427248,0.0008968871269737533,0.0029330094532398683,0.0001560612547828078,0.003193827290789704,-0.003428163247939791,0.0029330474809750834,0.00015649250423455962,0.003199819043794848,-0.00343649045817607,-0.1344419483442197,0.4789461432143081,0.2998922445797836,1.0,5.965357781634813e-13,-8.898999755450455e-12,-4.724843236210907e-09],"qvel":[-0.00030359423590906476,0.0372522500342468,-0.2506976220991767,0.21020449050414536,9.443595430389895e-07,-4.3514332081061075e-06,-0.00011156252350513101,-3.7442933407233794e-05,3.749770931001523e-05,0.000256446055137221,-0.00010236469912392497,6.64451498716427e-06,0.00019204594038941652,0.0002655278796853929,1.4724121122358003e-11,9.870142784805812e-13,6.301370387106362e-15,4.8288317328953504e-12,-7.202875021430054e-11,-5.4582472507700554e-08],"joint_position_rad":[-1.5698906894404703,-1.5839173207471309,1.3865264171875915,-1.3735763840153348,-1.5707740696427248,0.0008968871269737533],"joint_velocity_rad_s":[-0.00030359423590906476,0.0372522500342468,-0.2506976220991767,0.21020449050414536,9.443595430389895e-07,-4.3514332081061075e-06],"linkage_position_rad":[0.0029330094532398683,0.0001560612547828078,0.003193827290789704,-0.003428163247939791,0.0029330474809750834,0.00015649250423455962,0.003199819043794848,-0.00343649045817607],"tcp_position_m":[-0.1344393077494544,0.4787338937935605,0.4090562514548027],"tcp_quaternion_wxyz":[-6.836021074424579e-05,0.7071036842073865,0.7071098728978386,5.251308261481546e-05],"object_position_m":[-0.1344419483442197,0.4789461432143081,0.2998922445797836],"object_quaternion_wxyz":[1.0,5.965357781634813e-13,-8.898999755450455e-12,-4.724843236210907e-09],"object_linear_velocity_m_s":[1.4724121122358003e-11,9.870142784805812e-13,6.301370387106362e-15],"object_angular_velocity_rad_s":[4.828832023705063e-12,-7.202875019481069e-11,-5.4582472507700554e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485566065982,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698959065508253,-1.5863449001702703,1.3267570567409452,-1.3365999843666925,-1.5707709839197286,0.0008960043112875227,0.0],"actuator_force":[0.11100347365299967,-19.756058859977657,-19.25967205362167,-2.532249226093427,0.0014484255436855165,-6.2645223046775556e-06,-0.2922332105976023],"issued_joint_targets_rad":[-1.5699003191401728,-1.575316717235068,1.331614558029843,-1.3273536438728255,-1.5707723218442022,0.0008960165029685582],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.419999999999811,"joint_targets_rad":[-1.5699003191401728,-1.575316717235068,1.331614558029843,-1.3273536438728255,-1.5707723218442022,0.0008960165029685582],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.439999999999817,"qpos":[-1.5698907481032696,-1.5831004773672548,1.3813209686065175,-1.3691860113663366,-1.5707738767482995,0.0008968031431641009,0.002933008853491002,0.00015606018667148984,0.0031938352863796955,-0.0034281612711889666,0.0029330471219944105,0.0001564946829495021,0.0031998394566580485,-0.003436485238498665,-0.13444194834398857,0.4789461432143236,0.2998922445797836,1.0,4.962817604901215e-13,-7.403305224899842e-12,-5.031136569966044e-09],"qvel":[-0.00030658020376167597,0.03819366457868548,-0.2518215155038385,0.2103863978539667,1.1008235654669233e-06,-3.87805390699927e-06,-0.00011158555334366778,-3.755511053859434e-05,3.880093930999448e-05,0.00025680951843642805,-0.00010231130020687932,6.93444969241319e-06,0.000194806839497434,0.00026605429609327023,1.712336337710521e-11,1.147905801369399e-12,6.295819271983236e-15,2.5887690693128506e-11,-3.861101038350874e-10,-9.965381107034659e-08],"joint_position_rad":[-1.5698907481032696,-1.5831004773672548,1.3813209686065175,-1.3691860113663366,-1.5707738767482995,0.0008968031431641009],"joint_velocity_rad_s":[-0.00030658020376167597,0.03819366457868548,-0.2518215155038385,0.2103863978539667,1.1008235654669233e-06,-3.87805390699927e-06],"linkage_position_rad":[0.002933008853491002,0.00015606018667148984,0.0031938352863796955,-0.0034281612711889666,0.0029330471219944105,0.0001564946829495021,0.0031998394566580485,-0.003436485238498665],"tcp_position_m":[-0.1344393340796515,0.47873950213446104,0.4107466691710985],"tcp_quaternion_wxyz":[-6.780289394063765e-05,0.7071036753085802,0.7071098819013211,5.182050381608784e-05],"object_position_m":[-0.13444194834398857,0.4789461432143236,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.962817604901215e-13,-7.403305224899842e-12,-5.031136569966044e-09],"object_linear_velocity_m_s":[1.712336337710521e-11,1.147905801369399e-12,6.295819271983236e-15],"object_angular_velocity_rad_s":[2.588768828351834e-11,-3.861101039966637e-10,-9.965381107034659e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348531559708,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698958929655236,-1.5853524859800767,1.3213357654660187,-1.3321734011787303,-1.5707707743380444,0.0008960140974719326,0.0],"actuator_force":[0.11234235699657802,-19.78148305711784,-19.241800079461882,-2.532334691593519,0.0014411227710979801,-6.717455384164239e-06,-0.2922333145065179],"issued_joint_targets_rad":[-1.5699002819188734,-1.5742940789082098,1.3261588777898534,-1.3229218978226083,-1.570772109695727,0.000896053555319038],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.439999999999817,"joint_targets_rad":[-1.5699002819188734,-1.5742940789082098,1.3261588777898534,-1.3229218978226083,-1.570772109695727,0.000896053555319038],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.459999999999824,"qpos":[-1.569890792312117,-1.5822640163494013,1.376092017523049,-1.3647917367809397,-1.5707736817864018,0.0008967306303777822,0.002933008230029269,0.0001560591103479597,0.0031938433461219285,-0.003428159251710869,0.0029330467388685396,0.00015649687565980514,0.0031998600183067265,-0.003436479945224372,-0.13444194834376716,0.4789461432143383,0.2998922445797836,1.0,4.407451724328357e-13,-6.57462098538892e-12,-5.409147212880968e-09],"qvel":[-0.00030952340141620314,0.039142337838866996,-0.25295941570148495,0.21057499003014457,1.265331606928059e-06,-3.3249327061154938e-06,-0.00011161002187061331,-3.766935857486965e-05,4.012554099364465e-05,0.0002571809807699554,-0.00010225812250741144,7.228997363227682e-06,0.00019761365504840424,0.0002665921411820598,8.17233492863641e-12,5.478484146537698e-13,6.2958192719832365e-15,-1.8420066014858395e-11,2.7478037525247953e-10,-1.0796674349064676e-08],"joint_position_rad":[-1.569890792312117,-1.5822640163494013,1.376092017523049,-1.3647917367809397,-1.5707736817864018,0.0008967306303777822],"joint_velocity_rad_s":[-0.00030952340141620314,0.039142337838866996,-0.25295941570148495,0.21057499003014457,1.265331606928059e-06,-3.3249327061154938e-06],"linkage_position_rad":[0.002933008230029269,0.0001560591103479597,0.0031938433461219285,-0.003428159251710869,0.0029330467388685396,0.00015649687565980514,0.0031998600183067265,-0.003436479945224372],"tcp_position_m":[-0.13443936842616133,0.4787457361743796,0.412436874846227],"tcp_quaternion_wxyz":[-6.724026690791851e-05,0.7071036653552103,0.7071098919592338,5.1121162030260215e-05],"object_position_m":[-0.13444194834376716,0.4789461432143383,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.407451724328357e-13,-6.57462098538892e-12,-5.409147212880968e-09],"object_linear_velocity_m_s":[8.17233492863641e-12,5.478484146537698e-13,6.2958192719832365e-15],"object_angular_velocity_rad_s":[-1.842006290023531e-11,2.747803754612704e-10,-1.0796674349064676e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485063031511,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698958518707717,-1.584339262712894,1.3158883629537712,-1.3277415870115568,-1.5707705615688932,0.0008960511449166618,0.0],"actuator_force":[0.11369024325722421,-19.807427862532222,-19.223542857962002,-2.5324241183229788,0.0014335755936372152,-7.249459948677206e-06,-0.29223340772300027],"issued_joint_targets_rad":[-1.5699002132696747,-1.5732500796892563,1.3206764214180176,-1.3184847605645682,-1.570771894181756,0.0008961219917144593],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.459999999999824,"joint_targets_rad":[-1.5699002132696747,-1.5732500796892563,1.3206764214180176,-1.3184847605645682,-1.570771894181756,0.0008961219917144593],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.479999999999831,"qpos":[-1.5698908196524914,-1.5814077744265003,1.3708392583181224,-1.3603934192195803,-1.570773484633695,0.0008966714778969677,0.0029330075811365235,0.00015605802561765718,0.003193851464762048,-0.0034281571890848453,0.002933046329395281,0.00015649908188607848,0.00319988072290481,-0.0034364745754534454,-0.1344419483435666,0.47894614321435175,0.2998922445797836,1.0,4.081118835826466e-13,-6.087641613089673e-12,-5.838027572356759e-09],"qvel":[-0.00031241722927650094,0.04009906371818842,-0.2541122098221259,0.21077036607579594,1.4386076989499276e-06,-2.6807917010230627e-06,-0.00011163613943130479,-3.7785971880056364e-05,4.147297160670531e-05,0.000257561233462973,-0.00010220524387847369,7.5286100929189825e-06,0.00020047062714233666,0.0002671426786434836,7.888947743565798e-12,5.288663644975221e-13,6.2930437144216746e-15,-1.2617960093709866e-11,1.882298023361236e-10,-1.9712000886212623e-08],"joint_position_rad":[-1.5698908196524914,-1.5814077744265003,1.3708392583181224,-1.3603934192195803,-1.570773484633695,0.0008966714778969677],"joint_velocity_rad_s":[-0.00031241722927650094,0.04009906371818842,-0.2541122098221259,0.21077036607579594,1.4386076989499276e-06,-2.6807917010230627e-06],"linkage_position_rad":[0.0029330075811365235,0.00015605802561765718,0.003193851464762048,-0.0034281571890848453,0.002933046329395281,0.00015649908188607848,0.00319988072290481,-0.0034364745754534454],"tcp_position_m":[-0.13443941201754836,0.47875264072330337,0.41412686639619145],"tcp_quaternion_wxyz":[-6.667283772707959e-05,0.7071036541615157,0.7071099032572259,5.041547708556195e-05],"object_position_m":[-0.1344419483435666,0.47894614321435175,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.081118835826466e-13,-6.087641613089673e-12,-5.838027572356759e-09],"object_linear_velocity_m_s":[7.888947743565798e-12,5.288663644975221e-13,6.2930437144216746e-15],"object_angular_velocity_rad_s":[-1.261795765592912e-11,1.8822980249954102e-10,-1.9712000886212623e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484808445521,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698957791332613,-1.583304913807182,1.310414368159093,-1.323304380538092,-1.570770345427878,0.0008961195762627786,0.0],"actuator_force":[0.11504793017093107,-19.833904248638646,-19.204896389208443,-2.5325172668352707,0.0014257421386218994,-7.871646992230197e-06,-0.29223348861004134],"issued_joint_targets_rad":[-1.5699001083526278,-1.5721843478863693,1.3151666525256027,-1.3140420685439393,-1.570771675086963,0.0008962266454188534],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.479999999999831,"joint_targets_rad":[-1.5699001083526278,-1.5721843478863693,1.3151666525256027,-1.3140420685439393,-1.570771675086963,0.0008962266454188534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.4999999999998375,"qpos":[-1.5698908273016512,-1.5805315691503985,1.3655623640914818,-1.3559909154044438,-1.5707732851583307,0.0008966278538295731,0.0029330069047678034,0.00015605693232826755,0.0031938596349762017,-0.0034281550830298486,0.0029330458908670832,0.00015650130078395538,0.003199901561158443,-0.003436469125939031,-0.1344419483433935,0.4789461432143634,0.2998922445797836,1.0,3.7201599201054365e-13,-5.548825198980876e-12,-6.257747022357791e-09],"qvel":[-0.00031525386139063063,0.04106480414223325,-0.25528095384096844,0.21097262427157784,1.6216097116161369e-06,-1.932172816292006e-06,-0.00011166418258283517,-3.790532667850142e-05,4.284504705790371e-05,0.00025795129280134797,-0.00010215277317412468,7.833857104750058e-06,0.00020338309665793284,0.0002677075277651932,7.901681859128435e-12,5.29763633420597e-13,6.293043714421675e-15,-5.227541417268319e-12,7.800637483507427e-11,-3.598913572353968e-08],"joint_position_rad":[-1.5698908273016512,-1.5805315691503985,1.3655623640914818,-1.3559909154044438,-1.5707732851583307,0.0008966278538295731],"joint_velocity_rad_s":[-0.00031525386139063063,0.04106480414223325,-0.25528095384096844,0.21097262427157784,1.6216097116161369e-06,-1.932172816292006e-06],"linkage_position_rad":[0.0029330069047678034,0.00015605693232826755,0.0031938596349762017,-0.0034281550830298486,0.0029330458908670832,0.00015650130078395538,0.003199901561158443,-0.003436469125939031],"tcp_position_m":[-0.13443946628656192,0.47876026765099183,0.4158166415190432],"tcp_quaternion_wxyz":[-6.610106861175242e-05,0.7071036414959926,0.7071099160266991,4.9703816983272376e-05],"object_position_m":[-0.1344419483433935,0.4789461432143634,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.7201599201054365e-13,-5.548825198980876e-12,-6.257747022357791e-09],"object_linear_velocity_m_s":[7.901681859128435e-12,5.29763633420597e-13,6.293043714421675e-15],"object_angular_velocity_rad_s":[-5.227540041585152e-12,7.80063749272766e-11,-3.598913572353968e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484551958424,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569895669907869,-1.5822490707591392,1.30491324534906,-1.3188616181653705,-1.5707701256993398,0.0008962242247735442,0.0],"actuator_force":[0.11641633212047964,-19.860924874374632,-19.185855948456265,-2.53261380762126,0.0014175685242889813,-8.597246385244617e-06,-0.2922335550029595],"issued_joint_targets_rad":[-1.5698999614402143,-1.571096443410081,1.309628964039319,-1.309593656114245,-1.570771452154449,0.0008963732358768077],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.4999999999998375,"joint_targets_rad":[-1.5698999614402143,-1.571096443410081,1.309628964039319,-1.309593656114245,-1.570771452154449,0.0008963732358768077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.519999999999844,"qpos":[-1.5698908119200183,-1.5796351944465914,1.3602609821601586,-1.3515840797923915,-1.57077308321681,0.0008966022624889622,0.002933006198385275,0.00015605583040664476,0.003193867846356708,-0.0034281529334492435,0.0029330454198227027,0.00015650353095400513,0.0031999225185095626,-0.003436463592966583,-0.13444194834324497,0.4789461432143734,0.2998922445797836,1.0,3.260329373333812e-13,-4.8628210802697075e-12,-6.643496377853949e-09],"qvel":[-0.00031802397153547085,0.04204074794476098,-0.25646693053692593,0.21118186081498014,1.8156143867835204e-06,-1.0628412404214155e-06,-0.00011169452151451968,-3.8027915150330496e-05,4.424408769665779e-05,0.00025835249364441977,-0.00010210086313903866,8.145472751353398e-06,0.00020635795849933782,0.00026828880869976594,8.457592460810083e-12,5.6704428567302e-13,6.28888037807933e-15,4.319353369499688e-12,-6.441348560577586e-11,-6.570707347098294e-08],"joint_position_rad":[-1.5698908119200183,-1.5796351944465914,1.3602609821601586,-1.3515840797923915,-1.57077308321681,0.0008966022624889622],"joint_velocity_rad_s":[-0.00031802397153547085,0.04204074794476098,-0.25646693053692593,0.21118186081498014,1.8156143867835204e-06,-1.0628412404214155e-06],"linkage_position_rad":[0.002933006198385275,0.00015605583040664476,0.003193867846356708,-0.0034281529334492435,0.0029330454198227027,0.00015650353095400513,0.0031999225185095626,-0.003436463592966583],"tcp_position_m":[-0.1344395329246791,0.47876867774561305,0.4175061976712846],"tcp_quaternion_wxyz":[-6.552538734576227e-05,0.7071036270632787,0.707109930562922,4.89865070922078e-05],"object_position_m":[-0.13444194834324497,0.4789461432143734,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.260329373333812e-13,-4.8628210802697075e-12,-6.643496377853949e-09],"object_linear_velocity_m_s":[8.457592460810083e-12,5.6704428567302e-13,6.28888037807933e-15],"object_angular_velocity_rad_s":[4.319353152681656e-12,-6.441348562032174e-11,-6.570707347098294e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484293754717,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698955184618324,-1.5811712971253356,1.2993843881414857,-1.3144131342023753,-1.5707699021260328,0.0008963708098925764,0.0],"actuator_force":[0.11779650498601768,-19.888504535392713,-19.166415822575345,-2.532713286489866,0.00140898395000022,-9.44217415083104e-06,-0.2922336039871311],"issued_joint_targets_rad":[-1.5698991546659935,-1.5702607538588378,1.3056740170480385,-1.3064681715789972,-1.5707719413618966,0.0008971780381523244],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.519999999999844,"joint_targets_rad":[-1.5698991546659935,-1.5702607538588378,1.3056740170480385,-1.3064681715789972,-1.5707719413618966,0.0008971780381523244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.539999999999851,"qpos":[-1.5698918115369793,-1.5787517499489627,1.3550568307185644,-1.3472871276462512,-1.5707729981508387,0.0008966537490814522,0.002932340075892433,0.0001559542006084256,0.0031935885962443684,-0.0034270267692456066,0.0029323984016185454,0.00015647607975989176,0.0031999134540688723,-0.0034353286987252023,-0.1344419483431252,0.4789461432143815,0.2998922445797836,1.0,2.4892722107639437e-13,-3.7127325914190456e-12,-6.892738958949878e-09],"qvel":[-0.00025850100312016825,0.04157781243065196,-0.2502491045669014,0.20523766302941784,3.857510627278822e-08,2.7189395486784753e-06,-0.00011085009436719227,-2.7013308220813916e-05,-1.1767506951538153e-06,0.00021739537954068957,-0.00010429235415227647,3.570466879915981e-06,0.00010724930870652968,0.00022465774391290913,4.619833008318753e-12,3.0974298642896893e-13,6.295819271983239e-15,-1.1976420709561811e-11,1.7863122550883556e-10,-7.118823324847292e-09],"joint_position_rad":[-1.5698918115369793,-1.5787517499489627,1.3550568307185644,-1.3472871276462512,-1.5707729981508387,0.0008966537490814522],"joint_velocity_rad_s":[-0.00025850100312016825,0.04157781243065196,-0.2502491045669014,0.20523766302941784,3.857510627278822e-08,2.7189395486784753e-06],"linkage_position_rad":[0.002932340075892433,0.0001559542006084256,0.0031935885962443684,-0.0034270267692456066,0.0029323984016185454,0.00015647607975989176,0.0031999134540688723,-0.0034353286987252023],"tcp_position_m":[-0.1344390845760576,0.4787781838377871,0.4191640507787915],"tcp_quaternion_wxyz":[-7.396156189339851e-05,0.7071039978552975,0.7071095583132865,5.73474579657158e-05],"object_position_m":[-0.1344419483431252,0.4789461432143815,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.4892722107639437e-13,-3.7127325914190456e-12,-6.892738958949878e-09],"object_linear_velocity_m_s":[4.619833008318753e-12,3.0974298642896893e-13,6.295819271983239e-15],"object_angular_velocity_rad_s":[-1.1976418194184422e-11,1.7863122567748037e-10,-7.118823324847292e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313478632371192,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698949488290912,-1.5803446747053311,1.2954381019056964,-1.3112881235128218,-1.5707703910191313,0.000897175789343143,0.0],"actuator_force":[0.09712581702433454,-19.816974484997445,-19.13781579897568,-2.5242642362270544,0.0012997083431400824,-1.0873824022483713e-05,-0.29216121163295156],"issued_joint_targets_rad":[-1.5698969648247192,-1.5700604605550779,1.30540891507192,-1.3063801759915756,-1.5707740352330317,0.0008993621683654841],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.539999999999851,"joint_targets_rad":[-1.5698969648247192,-1.5700604605550779,1.30540891507192,-1.3063801759915756,-1.5707740352330317,0.0008993621683654841],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.5599999999998575,"qpos":[-1.5698943709040498,-1.5779512360780377,1.350281198643212,-1.3433836198705194,-1.5707731819494521,0.0008969038922973245,0.002930293353804469,0.00015577375462539803,0.003192236578449016,-0.0034241652900076167,0.002930381781797266,0.00015639956259642305,0.0031989648644136504,-0.003432436457322185,-0.13444194834300247,0.47894614321438966,0.2998922445797836,1.0,2.334501234628644e-13,-3.4820459428802147e-12,-7.347792970238976e-09],"qvel":[-0.00012863086003162043,0.03821146245518303,-0.22759386049347702,0.18596496716366545,-5.034636125184662e-06,1.2424174970631774e-05,-9.435062645801986e-05,-1.6879513424475712e-06,-8.440155337059745e-05,9.786940451016872e-05,-9.42417185064579e-05,-1.0348953481057124e-06,-7.949976741071323e-05,0.00010181602311720184,4.38473647224749e-12,2.9397284218612194e-13,6.29581927198324e-15,-9.285537739903673e-12,1.3849220420013326e-10,-1.2997173657924803e-08],"joint_position_rad":[-1.5698943709040498,-1.5779512360780377,1.350281198643212,-1.3433836198705194,-1.5707731819494521,0.0008969038922973245],"joint_velocity_rad_s":[-0.00012863086003162043,0.03821146245518303,-0.22759386049347702,0.18596496716366545,-5.034636125184662e-06,1.2424174970631774e-05],"linkage_position_rad":[0.002930293353804469,0.00015577375462539803,0.003192236578449016,-0.0034241652900076167,0.002930381781797266,0.00015639956259642305,0.0031989648644136504,-0.003432436457322185],"tcp_position_m":[-0.1344378210606777,0.47878836196621855,0.4206925169856678],"tcp_quaternion_wxyz":[-9.923744282729301e-05,0.7071049880798919,0.7071085624880149,8.27079120451758e-05],"object_position_m":[-0.13444194834300247,0.47894614321438966,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.334501234628644e-13,-3.4820459428802147e-12,-7.347792970238976e-09],"object_linear_velocity_m_s":[4.38473647224749e-12,2.9397284218612194e-13,6.29581927198324e-15],"object_angular_velocity_rad_s":[-9.285535614166073e-12,1.3849220434265805e-10,-1.2997173657924803e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313476645949159,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698935003737233,-1.5801505881940845,1.2951807627061764,-1.311201727080614,-1.5707724853665346,0.000899360470006874,0.0],"actuator_force":[0.05319340466530775,-19.68328921416696,-19.163327676680183,-2.5055503214139208,0.0008517550713804667,-1.412864228839128e-05,-0.29209079505526436],"issued_joint_targets_rad":[-1.569894940532983,-1.5698913993692638,1.3051835971119319,-1.3063026500500765,-1.5707759707717164,0.0009013809972974802],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.5599999999998575,"joint_targets_rad":[-1.569894940532983,-1.5698913993692638,1.3051835971119319,-1.3063026500500765,-1.5707759707717164,0.0009013809972974802],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.579999999999864,"qpos":[-1.5698957028673162,-1.5772111049963866,1.3459419397036303,-1.3398457975733957,-1.570773459271683,0.0008973235942046777,0.002928739025393021,0.00015580837603459404,0.0031906030791207327,-0.0034228106664882393,0.002928817647207268,0.00015638159272434273,0.0031971596274393936,-0.0034310749693062556,-0.13444194834289652,0.47894614321439677,0.2998922445797836,1.0,2.1807867716271307e-13,-3.2527730309754257e-12,-7.804983602596231e-09],"qvel":[-9.270308649970543e-05,0.035444661705933016,-0.2067385426604981,0.16856901254623877,-1.2011185670305622e-05,2.04876221278178e-05,-6.784479223969367e-05,1.1348943946198957e-06,-6.97887706969329e-05,5.8759193285922204e-05,-6.777954421275845e-05,9.215621433793814e-07,-7.048705822816313e-05,5.868600553144262e-05,4.273886192692599e-12,2.8654219132876476e-13,6.297207050764023e-15,-5.998386179140932e-12,8.947055671276781e-11,-2.372955690436492e-08],"joint_position_rad":[-1.5698957028673162,-1.5772111049963866,1.3459419397036303,-1.3398457975733957,-1.570773459271683,0.0008973235942046777],"joint_velocity_rad_s":[-9.270308649970543e-05,0.035444661705933016,-0.2067385426604981,0.16856901254623877,-1.2011185670305622e-05,2.04876221278178e-05],"linkage_position_rad":[0.002928739025393021,0.00015580837603459404,0.0031906030791207327,-0.0034228106664882393,0.002928817647207268,0.00015638159272434273,0.0031971596274393936,-0.0034310749693062556],"tcp_position_m":[-0.1344371207810532,0.4787978546402747,0.42207466105552377],"tcp_quaternion_wxyz":[-0.00012083370999823458,0.7071056040332773,0.7071079402974956,0.00010446138850019605],"object_position_m":[-0.13444194834289652,0.47894614321439677,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.1807867716271307e-13,-3.2527730309754257e-12,-7.804983602596231e-09],"object_linear_velocity_m_s":[4.273886192692599e-12,2.8654219132876476e-13,6.297207050764023e-15],"object_angular_velocity_rad_s":[-5.998384628134749e-12,8.947055681675223e-11,-2.372955690436492e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313494356683506,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569892108306121,-1.5799874643646359,1.294962636271773,-1.3111255693426347,-1.5707744217009767,0.0009013797695639496,0.0],"actuator_force":[0.04427035699063708,-19.730583418871447,-19.263189799515658,-2.496787139243338,0.000719903920185061,-2.0674533145803586e-05,-0.2921997119477522],"issued_joint_targets_rad":[-1.5698930780976057,-1.5697507092013125,1.3049945275464796,-1.306234843467365,-1.5707777523265258,0.0009032389042074476],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.579999999999864,"joint_targets_rad":[-1.5698930780976057,-1.5697507092013125,1.3049945275464796,-1.306234843467365,-1.5707777523265258,0.0009032389042074476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.599999999999871,"qpos":[-1.5698966502775187,-1.5765252751596077,1.3420020149544232,-1.336639096141626,-1.5707738695920157,0.0008978818311641133,0.002927663271219043,0.00015585437360305564,0.0031893688648417353,-0.003421965557879839,0.002927734938863343,0.0001563783015650562,0.0031957404805444518,-0.003430264304767166,-0.1344419483428048,0.4789461432144029,0.2998922445797836,1.0,1.9916487759015472e-13,-2.9703490229078446e-12,-8.248340957491994e-09],"qvel":[-7.190215195016093e-05,0.032844853479648176,-0.18770422280889387,0.15279675931549813,-1.892261054169135e-05,2.7052247582879085e-05,-4.579534246253388e-05,1.2281629585168894e-06,-4.935329391931981e-05,3.785603084671499e-05,-4.572696018152274e-05,8.421478792061065e-07,-5.109546449974072e-05,3.7029993166804915e-05,4.35895837339533e-12,2.922779470425524e-13,6.2985948295448055e-15,-1.8049053461658274e-12,2.6953903088841194e-11,-4.332417844988225e-08],"joint_position_rad":[-1.5698966502775187,-1.5765252751596077,1.3420020149544232,-1.336639096141626,-1.5707738695920157,0.0008978818311641133],"joint_velocity_rad_s":[-7.190215195016093e-05,0.032844853479648176,-0.18770422280889387,0.15279675931549813,-1.892261054169135e-05,2.7052247582879085e-05],"linkage_position_rad":[0.002927663271219043,0.00015585437360305564,0.0031893688648417353,-0.003421965557879839,0.002927734938863343,0.0001563783015650562,0.0031957404805444518,-0.003430264304767166],"tcp_position_m":[-0.13443657047009827,0.4788071709312117,0.423322340273771],"tcp_quaternion_wxyz":[-0.00013745992876002767,0.7071061333291333,0.707107405270113,0.00012134767122521117],"object_position_m":[-0.1344419483428048,0.4789461432144029,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.9916487759015472e-13,-2.9703490229078446e-12,-8.248340957491994e-09],"object_linear_velocity_m_s":[4.35895837339533e-12,2.922779470425524e-13,6.2985948295448055e-15],"object_angular_velocity_rad_s":[-1.804904644139999e-12,2.695390313587345e-11,-4.332417844988225e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509568867478,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698907649867961,-1.5798525790111642,1.2947802023262098,-1.3110588842817619,-1.570776204505364,0.0009032380586437223,0.0],"actuator_force":[0.04053144222507399,-19.7925490949724,-19.361936132869232,-2.4895700016178353,0.0007248043800700543,-2.711101848340558e-05,-0.292312298990899],"issued_joint_targets_rad":[-1.5698913669618366,-1.569633632347467,1.3048358841975987,-1.306175541821899,-1.5707793896124238,0.0009049463861278533],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.599999999999871,"joint_targets_rad":[-1.5698913669618366,-1.569633632347467,1.3048358841975987,-1.306175541821899,-1.5707793896124238,0.0009049463861278533],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.6199999999998775,"qpos":[-1.5698973323722962,-1.5758908168641752,1.3384260574140399,-1.3337326693157916,-1.570774396601266,0.0008985509505961667,0.0029269710527939675,0.00015589702702472868,0.0031885203158385517,-0.0034214701454128088,0.0029270365841278035,0.00015637547902178471,0.0031947186095071726,-0.003429804233761284,-0.13444194834272932,0.4789461432144079,0.2998922445797836,1.0,1.6460227565921973e-13,-2.4544668018571714e-12,-8.589841421897602e-09],"qvel":[-5.452382126322659e-05,0.030374375377899658,-0.17036183290938675,0.13849116064921357,-2.4646980286880777e-05,3.2298275394036366e-05,-2.849493636914597e-05,1.2040470407054658e-06,-3.229263445874514e-05,2.1710551835235097e-05,-2.846678452172786e-05,6.702316303863598e-07,-3.458549395397186e-05,2.0852264635239052e-05,4.723875286109573e-12,3.1684537176922076e-13,6.3013703871063675e-15,3.8573284351854545e-12,-5.7412069604837066e-11,-7.909900911179414e-08],"joint_position_rad":[-1.5698973323722962,-1.5758908168641752,1.3384260574140399,-1.3337326693157916,-1.570774396601266,0.0008985509505961667],"joint_velocity_rad_s":[-5.452382126322659e-05,0.030374375377899658,-0.17036183290938675,0.13849116064921357,-2.4646980286880777e-05,3.2298275394036366e-05],"linkage_position_rad":[0.0029269710527939675,0.00015589702702472868,0.0031885203158385517,-0.0034214701454128088,0.0029270365841278035,0.00015637547902178471,0.0031947186095071726,-0.003429804233761284],"tcp_position_m":[-0.13443611717178283,0.47881627559423146,0.4244484172333684],"tcp_quaternion_wxyz":[-0.00014968488179556883,0.7071066085778583,0.7071069252698552,0.00013392298813972558],"object_position_m":[-0.13444194834272932,0.4789461432144079,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.6460227565921973e-13,-2.4544668018571714e-12,-8.589841421897602e-09],"object_linear_velocity_m_s":[4.723875286109573e-12,3.1684537176922076e-13,6.3013703871063675e-15],"object_angular_velocity_rad_s":[3.85732783715609e-12,-5.741206964506499e-11,-7.909900911179414e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313521036384685,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698894780869188,-1.579741133292432,1.2946276676269195,-1.3110004935107131,-1.5707778434431499,0.0009049458474717364,0.0],"actuator_force":[0.03751809926006899,-19.850383007673827,-19.45204641048622,-2.483028162382084,0.0007412770867176732,-3.237910161879576e-05,-0.2924155732416342],"issued_joint_targets_rad":[-1.5698897970087153,-1.5695360944963,1.3047026465788971,-1.3061236629578052,-1.5707808921658273,0.0009065134593554652],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.6199999999998775,"joint_targets_rad":[-1.5698897970087153,-1.5695360944963,1.3047026465788971,-1.3061236629578052,-1.5707808921658273,0.0009065134593554652],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.639999999999884,"qpos":[-1.5698977798090359,-1.5753049985306364,1.3351814733201088,-1.331098570265805,-1.5707750172475643,0.000899306822519668,0.002926576070790736,0.00015593581763166447,0.0031879798858614784,-0.0034212421626037765,0.002926635932463894,0.00015637234336989307,0.0031940181554738975,-0.0034296087642791506,-0.13444194834266485,0.4789461432144122,0.2998922445797836,1.0,1.310200175647164e-13,-1.9533573667205176e-12,-8.889882804830475e-09],"qvel":[-3.9164155583685e-05,0.02803621125255746,-0.15457345864773842,0.12551636657375365,-2.9206125688343842e-05,3.6396767639053866e-05,-1.517984906865669e-05,1.1490454744855825e-06,-1.901247276073742e-05,9.416328311028069e-06,-1.5183274856026263e-05,5.169579090737696e-07,-2.1646150328116453e-05,8.56204935890054e-06,2.4402584486927956e-12,1.636715255033336e-13,6.297207050764022e-15,-6.064347059748063e-12,9.042809138802626e-11,-8.569729881953257e-09],"joint_position_rad":[-1.5698977798090359,-1.5753049985306364,1.3351814733201088,-1.331098570265805,-1.5707750172475643,0.000899306822519668],"joint_velocity_rad_s":[-3.9164155583685e-05,0.02803621125255746,-0.15457345864773842,0.12551636657375365,-2.9206125688343842e-05,3.6396767639053866e-05],"linkage_position_rad":[0.002926576070790736,0.00015593581763166447,0.0031879798858614784,-0.0034212421626037765,0.002926635932463894,0.00015637234336989307,0.0031940181554738975,-0.0034296087642791506],"tcp_position_m":[-0.1344357520394373,0.4788250932692126,0.4254647432539007],"tcp_quaternion_wxyz":[-0.00015819450310065061,0.7071070321623484,0.7071064980844742,0.00014285574968696688],"object_position_m":[-0.13444194834266485,0.4789461432144122,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.310200175647164e-13,-1.9533573667205176e-12,-8.889882804830475e-09],"object_linear_velocity_m_s":[2.4402584486927956e-12,1.636715255033336e-13,6.297207050764022e-15],"object_angular_velocity_rad_s":[-6.064345418478303e-12,9.042809149809453e-11,-8.569729881953257e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313529383829937,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698882546174973,-1.579649009017375,1.2945000429943077,-1.3109493503397112,-1.5707793479731764,0.0009065131654603185,0.0],"actuator_force":[0.03471604531068806,-19.90250547450023,-19.53347719250678,-2.477026694328515,0.0007552497627330013,-3.6505293580180176e-05,-0.2925087845431081],"issued_joint_targets_rad":[-1.5698883583991985,-1.5694547222782715,1.3045906131452427,-1.3060782520985352,-1.5707822693013969,0.0009079498627606046],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.639999999999884,"joint_targets_rad":[-1.5698883583991985,-1.5694547222782715,1.3045906131452427,-1.3060782520985352,-1.5707822693013969,0.0009079498627606046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.659999999999891,"qpos":[-1.5698980147776926,-1.574765024014329,1.332238389821106,-1.3287114346933655,-1.5707757105386808,0.0009001285555530897,0.0029264079400798553,0.0001559709149497076,0.0031876774411024092,-0.0034212155103503393,0.002926462571588283,0.00015636888425939717,0.0031935685157377896,-0.0034296118958694172,-0.13444194834260031,0.47894614321441653,0.2998922445797836,1.0,1.2485437025234335e-13,-1.8614359814730327e-12,-9.376903573434038e-09],"qvel":[-2.5600265162958823e-05,0.02583433015305543,-0.1402087132178336,0.11374969569398385,-3.2742282542691906e-05,3.95023349878947e-05,-5.065541106940554e-06,1.0859927908546594e-06,-8.854231201434056e-06,1.6580913524534056e-07,-5.092486531413761e-06,3.9136278645189957e-07,-1.1694474823339052e-05,-6.688941707205248e-07,2.352530905606019e-12,1.5779204318876302e-13,6.298594829544804e-15,-4.627443153287051e-12,6.898973273351991e-11,-1.5646162637246797e-08],"joint_position_rad":[-1.5698980147776926,-1.574765024014329,1.332238389821106,-1.3287114346933655,-1.5707757105386808,0.0009001285555530897],"joint_velocity_rad_s":[-2.5600265162958823e-05,0.02583433015305543,-0.1402087132178336,0.11374969569398385,-3.2742282542691906e-05,3.95023349878947e-05],"linkage_position_rad":[0.0029264079400798553,0.0001559709149497076,0.0031876774411024092,-0.0034212155103503393,0.002926462571588283,0.00015636888425939717,0.0031935685157377896,-0.0034296118958694172],"tcp_position_m":[-0.1344354697683793,0.47883356487790724,0.42638203591397394],"tcp_quaternion_wxyz":[-0.0001636021793351169,0.7071074045342938,0.7071061232675744,0.00014874341165672098],"object_position_m":[-0.13444194834260031,0.47894614321441653,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2485437025234335e-13,-1.8614359814730327e-12,-9.376903573434038e-09],"object_linear_velocity_m_s":[2.352530905606019e-12,1.5779204318876302e-13,6.298594829544804e-15],"object_angular_velocity_rad_s":[-4.627441801218247e-12,6.898973282420906e-11,-1.5646162637246797e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535262461822,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698870989635774,-1.579572801796858,1.2943931586138329,-1.3109045302034161,-1.570780727338983,0.00090794976256209,0.0],"actuator_force":[0.03207173429609611,-19.94928762628024,-19.606977127412847,-2.471517324423644,0.0007658281031126535,-3.962999428930303e-05,-0.29259273544521514],"issued_joint_targets_rad":[-1.5698870416340467,-1.5693867336648806,1.3044962822257582,-1.3060384716521165,-1.5707835300323898,0.0009092650016867216],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.659999999999891,"joint_targets_rad":[-1.5698870416340467,-1.5693867336648806,1.3044962822257582,-1.3060384716521165,-1.5707835300323898,0.0009092650016867216],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.679999999999898,"qpos":[-1.5698980593516674,-1.574268064231999,1.3295694753444336,-1.3265482393496473,-1.5707764582721233,0.0009009981640713839,0.002926410489945027,0.00015600264869240443,0.0031875562897174356,-0.003421338118390457,0.0029264603055983896,0.00015636521679236262,0.0031933122133755596,-0.0034297617328300518,-0.13444194834254697,0.47894614321442014,0.2998922445797836,1.0,1.1223438139466804e-13,-1.672795302831688e-12,-9.8066432244119e-09],"qvel":[-1.3724668857390119e-05,0.023769940823232603,-0.1271463726786394,0.10307972649564143,-3.5396347116021376e-05,4.175336746511355e-05,2.5021117779817167e-06,1.0204307683314133e-06,-1.1906678560239282e-06,-6.678066711255421e-06,2.458079766953713e-06,2.9085942445288557e-07,-4.136690180925778e-06,-7.483638598970096e-06,2.2717544596971943e-12,1.5242404512565837e-13,6.3027581658871485e-15,-2.5966436507721984e-12,3.8736685245369796e-11,-2.8565941830798913e-08],"joint_position_rad":[-1.5698980593516674,-1.574268064231999,1.3295694753444336,-1.3265482393496473,-1.5707764582721233,0.0009009981640713839],"joint_velocity_rad_s":[-1.3724668857390119e-05,0.023769940823232603,-0.1271463726786394,0.10307972649564143,-3.5396347116021376e-05,4.175336746511355e-05],"linkage_position_rad":[0.002926410489945027,0.00015600264869240443,0.0031875562897174356,-0.003421338118390457,0.0029264603055983896,0.00015636521679236262,0.0031933122133755596,-0.0034297617328300518],"tcp_position_m":[-0.13443526441175782,0.47884164996013556,0.42720996511214104],"tcp_quaternion_wxyz":[-0.00016643779779069325,0.7071077270857419,0.7071057993391509,0.00015210205629755135],"object_position_m":[-0.13444194834254697,0.47894614321442014,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1223438139466804e-13,-1.672795302831688e-12,-9.8066432244119e-09],"object_linear_velocity_m_s":[2.2717544596971943e-12,1.5242404512565837e-13,6.3027581658871485e-15],"object_angular_velocity_rad_s":[-2.5966427954485475e-12,3.873668530271067e-11,-2.8565941830798913e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353921182867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.569886013267313,-1.5795097102404396,1.294303544247899,-1.3108652207831146,-1.5707819904919655,0.0009092650533074005,0.0],"actuator_force":[0.029582036252122634,-19.99126834617391,-19.67331312161332,-2.4664633662978304,0.0007735247904747666,-4.189212850308488e-05,-0.2926683407348955],"issued_joint_targets_rad":[-1.5698858376167657,-1.5693298347756666,1.3044167378861518,-1.3060035899194333,-1.5707846830043324,0.0009104678867500437],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.679999999999898,"joint_targets_rad":[-1.5698858376167657,-1.5693298347756666,1.3044167378861518,-1.3060035899194333,-1.5707846830043324,0.0009104678867500437],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.699999999999904,"qpos":[-1.5698979356849685,-1.5738113079151033,1.3271497522662572,-1.3245880879411769,-1.570777244836309,0.0009019002529771189,0.0029265391747738414,0.00015603133876929766,0.003187571267896226,-0.003421568911701053,0.0029265845638947693,0.0001563614489517019,0.0031932032791635073,-0.0034300173940090637,-0.1344419483425016,0.47894614321442314,0.2998922445797836,1.0,9.889646258034764e-14,-1.4735534905148416e-12,-1.0214004330422885e-08],"qvel":[-3.428453193617149e-06,0.02184176716472141,-0.11527422095133194,0.09340519274814243,-3.7294977257133e-05,4.3273182925755093e-05,8.053337195713208e-06,9.54287405176557e-07,4.493310273492781e-06,-1.1621931310981466e-05,7.997327964713335e-06,2.109865723447026e-07,1.5182256053167748e-06,-1.239219673795965e-05,2.3235504311893502e-12,1.5595322200688298e-13,6.301370387106365e-15,-7.525849473361466e-14,1.1732752106933476e-12,-5.2154195988653836e-08],"joint_position_rad":[-1.5698979356849685,-1.5738113079151033,1.3271497522662572,-1.3245880879411769,-1.570777244836309,0.0009019002529771189],"joint_velocity_rad_s":[-3.428453193617149e-06,0.02184176716472141,-0.11527422095133194,0.09340519274814243,-3.7294977257133e-05,4.3273182925755093e-05],"linkage_position_rad":[0.0029265391747738414,0.00015603133876929766,0.003187571267896226,-0.003421568911701053,0.0029265845638947693,0.0001563614489517019,0.0031932032791635073,-0.0034300173940090637],"tcp_position_m":[-0.1344351293340105,0.4788493233997302,0.4279572535007564],"tcp_quaternion_wxyz":[-0.00016715630689527372,0.7071080021300578,0.7071055238495729,0.00015337479469534679],"object_position_m":[-0.1344419483425016,0.47894614321442314,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.889646258034764e-14,-1.4735534905148416e-12,-1.0214004330422885e-08],"object_linear_velocity_m_s":[2.3235504311893502e-12,1.5595322200688298e-13,6.301370387106365e-15],"object_angular_velocity_rad_s":[-7.52583170619433e-14,1.173275222546458e-12,-5.2154195988653836e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313541666243154,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5698849979425211,-1.579457430278388,1.294228314648165,-1.3108307114528501,-1.5707831460244601,0.0009104680559094856,0.0],"actuator_force":[0.027246866171935835,-20.028951592457815,-19.73318685565164,-2.4618310306509557,0.0007789036501435476,-4.341682639219524e-05,-0.2927364402592327],"issued_joint_targets_rad":[-1.6073100881475237,-1.5832046638490203,1.3347784906884792,-1.322345295630512,-1.5708875148064783,-0.03642775543074719],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.699999999999904,"joint_targets_rad":[-1.6073100881475237,-1.5832046638490203,1.3347784906884792,-1.322345295630512,-1.5708875148064783,-0.03642775543074719],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.719999999999911,"qpos":[-1.5711436192828698,-1.5743746645738286,1.3263881903570789,-1.3239735653086366,-1.5706958287633805,-0.0004927134749246069,0.002922238912636488,0.00015160766536397304,0.0031774168878434548,-0.0034275193802474685,0.002922262166393388,0.00016115562513318367,0.0032308015228246644,-0.003402897437186404,-0.13444194834246326,0.47894614321442575,0.2998922445797836,1.0,8.250747567167025e-14,-1.228902931022554e-12,-1.0562602216053897e-08],"qvel":[-0.1255603309916676,-0.0598719479426622,0.02682604358949704,0.0021860229428324533,0.004475553140149704,-0.13678052471043578,-0.000667977936301287,-0.00011511587362137434,-0.0007855346723430874,0.0007618187373619674,-0.0006774164229013466,-0.00011265727120780124,-0.0003149655763157116,0.001585548863266807,2.5980666311929055e-12,1.7451831180212746e-13,6.2985948295448016e-15,3.1488668613335113e-12,-4.675688318303263e-11,-9.522039130046422e-08],"joint_position_rad":[-1.5711436192828698,-1.5743746645738286,1.3263881903570789,-1.3239735653086366,-1.5706958287633805,-0.0004927134749246069],"joint_velocity_rad_s":[-0.1255603309916676,-0.0598719479426622,0.02682604358949704,0.0021860229428324533,0.004475553140149704,-0.13678052471043578],"linkage_position_rad":[0.002922238912636488,0.00015160766536397304,0.0031774168878434548,-0.0034275193802474685,0.002922262166393388,0.00016115562513318367,0.0032308015228246644,-0.003402897437186404],"tcp_position_m":[-0.133859420884968,0.47883151258125,0.4285312161221082],"tcp_quaternion_wxyz":[-0.0004468080517073738,0.7070552239768835,0.7071580934736199,0.0003760908379253396],"object_position_m":[-0.13444194834246326,0.47894614321442575,0.2998922445797836],"object_quaternion_wxyz":[1.0,8.250747567167025e-14,-1.228902931022554e-12,-1.0562602216053897e-08],"object_linear_velocity_m_s":[2.5980666311929055e-12,1.7451831180212746e-13,6.2985948295448016e-15],"object_angular_velocity_rad_s":[3.148866107618031e-12,-4.6756883233840294e-11,-9.522039130046424e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313249733236836,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.599879089588858,-1.593322677632037,1.324231072076343,-1.3271731129814908,-1.5708845174863986,-0.029089531761287202,0.0],"actuator_force":[-7.2468082153095565,-13.947246939352226,-15.044653997270416,-1.8183761307103623,-0.5418996755239505,-0.620356672137719,-0.2854980821554806],"issued_joint_targets_rad":[-1.608537464045183,-1.5832602971873393,1.333446271502168,-1.3209584016171965,-1.570860231654626,-0.03765554941854843],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.719999999999911,"joint_targets_rad":[-1.608537464045183,-1.5832602971873393,1.333446271502168,-1.3209584016171965,-1.570860231654626,-0.03765554941854843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.739999999999918,"qpos":[-1.5744651957023046,-1.5754001099610437,1.3270051018738782,-1.3237064604370488,-1.5706693409702686,-0.003914242959425832,0.0029204249672358552,0.00015507733799205174,0.0031760858228627926,-0.003419851882909518,0.0029203693365244024,0.00015641261130024274,0.003192282623340371,-0.003416062872270723,-0.1344419483424288,0.4789461432144282,0.2998922445797836,1.0,6.957663337277299e-14,-1.0358010373285845e-12,-1.0923795841740933e-08],"qvel":[-0.17249786253447105,-0.04296290233704585,0.030910513986759314,0.013388077882177668,-0.0014452080326301125,-0.17042090340115287,1.381451569977142e-05,0.0001798146068710948,0.000734296287979638,0.0006926780872972065,2.721604610640409e-05,-0.0001322137631253958,-0.0013105108093708752,-0.001224093478410996,1.2892967610735031e-12,8.659553254811112e-14,6.3707593261454374e-15,-3.050994212298294e-12,4.5444430322645415e-11,-1.0316349621686566e-08],"joint_position_rad":[-1.5744651957023046,-1.5754001099610437,1.3270051018738782,-1.3237064604370488,-1.5706693409702686,-0.003914242959425832],"joint_velocity_rad_s":[-0.17249786253447105,-0.04296290233704585,0.030910513986759314,0.013388077882177668,-0.0014452080326301125,-0.17042090340115287],"linkage_position_rad":[0.0029204249672358552,0.00015507733799205174,0.0031760858228627926,-0.003419851882909518,0.0029203693365244024,0.00015641261130024274,0.003192282623340371,-0.003416062872270723],"tcp_position_m":[-0.13227659604862171,0.47883453208579024,0.42869885967999066],"tcp_quaternion_wxyz":[-0.0005047505350140437,0.7070198417684901,0.7071934059828604,0.0004184577838093689],"object_position_m":[-0.1344419483424288,0.4789461432144282,0.2998922445797836],"object_quaternion_wxyz":[1.0,6.957663337277299e-14,-1.0358010373285845e-12,-1.0923795841740933e-08],"object_linear_velocity_m_s":[1.2892967610735031e-12,8.659553254811112e-14,6.3707593261454374e-15],"object_angular_velocity_rad_s":[-3.0509931980755646e-12,4.544443039073784e-11,-1.0316349621686568e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313584922368857,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6085304231575672,-1.5933633161894083,1.3232599468915838,-1.3257847026583367,-1.5708573674318134,-0.037655549558068886,0.0],"actuator_force":[0.8686901032633614,-18.74125152191118,-19.85451555929285,-2.3779288988617964,0.05050757249068738,0.1714370407937622,-0.2922448679970438],"issued_joint_targets_rad":[-1.611874634651187,-1.5840485429036784,1.3338049075143008,-1.320529120942127,-1.5708547406628584,-0.04099293171004931],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.739999999999918,"joint_targets_rad":[-1.611874634651187,-1.5840485429036784,1.3338049075143008,-1.320529120942127,-1.5708547406628584,-0.04099293171004931],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.759999999999924,"qpos":[-1.5780217530772325,-1.5762467819024737,1.3276459358662083,-1.3234064116439324,-1.5706873753330992,-0.007442813883669432,0.0029221965563744376,0.0001563671288844395,0.0031825324990075905,-0.0034175281837616482,0.0029222355284002914,0.0001560328923889325,0.0031855567133507634,-0.0034275471683317274,-0.13444194834239673,0.4789461432144304,0.2998922445797836,1.0,6.437317887639514e-14,-9.575876578669772e-13,-1.1386020312325592e-08],"qvel":[-0.17234879137322823,-0.03963558282068125,0.030710886757912146,0.014403174077768793,-0.001527581833449842,-0.16945391424407522,9.299387879177403e-05,4.3759112837653296e-05,0.0003115373338606334,9.356820967289418e-05,9.813204728702537e-05,-3.056495413769718e-05,-0.00020335547870401816,-0.0003664342327992638,1.2300573079208376e-12,8.26823645843971e-14,6.379085998830127e-15,-2.1621393726770542e-12,3.2199046241501527e-11,-1.8835049205850363e-08],"joint_position_rad":[-1.5780217530772325,-1.5762467819024737,1.3276459358662083,-1.3234064116439324,-1.5706873753330992,-0.007442813883669432],"joint_velocity_rad_s":[-0.17234879137322823,-0.03963558282068125,0.030710886757912146,0.014403174077768793,-0.001527581833449842,-0.16945391424407522],"linkage_position_rad":[0.0029221965563744376,0.0001563671288844395,0.0031825324990075905,-0.0034175281837616482,0.0029222355284002914,0.0001560328923889325,0.0031855567133507634,-0.0034275471683317274],"tcp_position_m":[-0.13057106483157965,0.4788981657217761,0.4287658087763666],"tcp_quaternion_wxyz":[-0.00046377888460863003,0.7070297649174421,0.7071835277810318,0.0003930204914735641],"object_position_m":[-0.13444194834239673,0.4789461432144304,0.2998922445797836],"object_quaternion_wxyz":[1.0,6.437317887639514e-14,-9.575876578669772e-13,-1.1386020312325592e-08],"object_linear_velocity_m_s":[1.2300573079208376e-12,8.26823645843971e-14,6.379085998830127e-15],"object_angular_velocity_rad_s":[-2.1621386033666436e-12,3.2199046293162795e-11,-1.8835049205850366e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313619331409105,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.611868218043528,-1.5941331190742098,1.3236189937108132,-1.3253551968055233,-1.5708520759832911,-0.04099293200761236,0.0],"actuator_force":[1.2465866167003696,-19.91844121519989,-20.33823901395499,-2.4147099885723264,0.07040785824904106,0.17033236243605643,-0.2931772338691304],"issued_joint_targets_rad":[-1.61546448174218,-1.5848142327383041,1.334383413230654,-1.3203425573329903,-1.5708583872544788,-0.04458262582350847],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.759999999999924,"joint_targets_rad":[-1.61546448174218,-1.5848142327383041,1.334383413230654,-1.3203425573329903,-1.5708583872544788,-0.04458262582350847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.779999999999931,"qpos":[-1.5815812916882535,-1.577067618074636,1.3282878733686687,-1.3231134003818916,-1.5707039385668915,-0.010973743713203232,0.002924205186350788,0.00015651636747465768,0.0031848468309167263,-0.003419611513083734,0.0029242532888202723,0.00015604124635053605,0.0031868688622972356,-0.00343003695457657,-0.13444194834236917,0.4789461432144322,0.2998922445797836,1.0,5.896058429864645e-14,-8.765943514857401e-13,-1.1841979768433373e-08],"qvel":[-0.17255995646391048,-0.039076184535059615,0.030512668905291425,0.013909330491045672,-0.0014673409805946824,-0.16975066452293805,8.149363005131822e-05,2.7526061696329327e-05,0.0002529500367200515,9.142678967294451e-05,8.512340089818497e-05,-3.408812803594644e-05,-0.0001339603505071953,-0.00024151815730901523,1.2176308241024077e-12,8.190081903055212e-14,6.386024892734035e-15,-1.0620721966130656e-12,1.582519171996625e-11,-3.438804340321988e-08],"joint_position_rad":[-1.5815812916882535,-1.577067618074636,1.3282878733686687,-1.3231134003818916,-1.5707039385668915,-0.010973743713203232],"joint_velocity_rad_s":[-0.17255995646391048,-0.039076184535059615,0.030512668905291425,0.013909330491045672,-0.0014673409805946824,-0.16975066452293805],"linkage_position_rad":[0.002924205186350788,0.00015651636747465768,0.0031848468309167263,-0.003419611513083734,0.0029242532888202723,0.00015604124635053605,0.0031868688622972356,-0.00343003695457657],"tcp_position_m":[-0.128865611179376,0.47896459369747807,0.4288202896564687],"tcp_quaternion_wxyz":[-0.0004165596947172806,0.7070399096534287,0.7071734322433315,0.0003596727365452603],"object_position_m":[-0.13444194834236917,0.4789461432144322,0.2998922445797836],"object_quaternion_wxyz":[1.0,5.896058429864645e-14,-8.765943514857401e-13,-1.1841979768433373e-08],"object_linear_velocity_m_s":[1.2176308241024077e-12,8.190081903055212e-14,6.386024892734035e-15],"object_angular_velocity_rad_s":[-1.0620717615211359e-12,1.5825191749175404e-11,-3.4388043403219884e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313606659267855,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6154581716317018,-1.5948809575552052,1.3241979787436589,-1.3251682530913536,-1.5708558148223966,-0.044582626296526075,0.0],"actuator_force":[1.2702226986675669,-19.99620514711478,-20.38485681213615,-2.4183594038355523,0.07079597030701734,0.1706251606323832,-0.2932560089133005],"issued_joint_targets_rad":[-1.6190551328479978,-1.585566357786767,1.3349781634197544,-1.3201856388493451,-1.5708627984196148,-0.048173129211664584],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.779999999999931,"joint_targets_rad":[-1.6190551328479978,-1.585566357786767,1.3349781634197544,-1.3201856388493451,-1.5708627984196148,-0.048173129211664584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.799999999999938,"qpos":[-1.5851442225082792,-1.5778803099888992,1.3289259038256287,-1.3228330703524065,-1.570719386695095,-0.01451037214564162,0.002925891619885604,0.00015652672298155888,0.0031865435141300654,-0.0034212349376934433,0.002925940599936174,0.00015603956447134232,0.003188485462242562,-0.0034316468725202943,-0.13444194834234643,0.47894614321443363,0.2998922445797836,1.0,4.974614115201472e-14,-7.393088497906109e-13,-1.2210567824472232e-08],"qvel":[-0.17270574703765654,-0.03873930344224893,0.030305886037818242,0.013287435352402514,-0.0014122775268010394,-0.17002277229810325,6.528912801725294e-05,2.568086312048985e-05,0.00023385485608947617,0.00011152522609091988,6.888372492566696e-05,-3.370463256728168e-05,-0.00014110341075569577,-0.00022485034777531404,1.2655320015511558e-12,8.515934536593474e-14,6.3846371139532534e-15,4.0521758576534494e-13,-5.981568029727299e-12,-6.27838831865665e-08],"joint_position_rad":[-1.5851442225082792,-1.5778803099888992,1.3289259038256287,-1.3228330703524065,-1.570719386695095,-0.01451037214564162],"joint_velocity_rad_s":[-0.17270574703765654,-0.03873930344224893,0.030305886037818242,0.013287435352402514,-0.0014122775268010394,-0.17002277229810325],"linkage_position_rad":[0.002925891619885604,0.00015652672298155888,0.0031865435141300654,-0.0034212349376934433,0.002925940599936174,0.00015603956447134232,0.003188485462242562,-0.0034316468725202943],"tcp_position_m":[-0.12715991291587445,0.47903140601774613,0.42887374580951443],"tcp_quaternion_wxyz":[-0.0003729237990781046,0.7070492339309405,0.7071641490653376,0.0003286368911702963],"object_position_m":[-0.13444194834234643,0.47894614321443363,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.974614115201472e-14,-7.393088497906109e-13,-1.2210567824472232e-08],"object_linear_velocity_m_s":[1.2655320015511558e-12,8.515934536593474e-14,6.3846371139532534e-15],"object_angular_velocity_rad_s":[4.0521753252202163e-13,-5.9815680333766606e-12,-6.278388318656651e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313591760872143,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6190488900638804,-1.595615405547697,1.32479320231801,-1.3250109799702017,-1.5708603061789839,-0.04817312984440794,0.0],"actuator_force":[1.272963703860114,-19.97446974069635,-20.387757430364218,-2.417698344137875,0.07076801073571914,0.1708983804271682,-0.2932624752558035],"issued_joint_targets_rad":[-1.6226478617625593,-1.58630433573243,1.335560784744914,-1.3200307567015943,-1.5708668924016058,-0.05176572076543198],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.799999999999938,"joint_targets_rad":[-1.6226478617625593,-1.58630433573243,1.335560784744914,-1.3200307567015943,-1.5708668924016058,-0.05176572076543198],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.819999999999944,"qpos":[-1.588709996170369,-1.5786858320076083,1.3295587125079549,-1.3225647291958071,-1.5707337550550067,-0.01805233583770542,0.002927277762703669,0.00015652634086038255,0.003187924124470105,-0.003422549473148244,0.0029273269280748137,0.0001560391916019881,0.0031898629261582446,-0.003432964433406363,-0.1344419483423277,0.4789461432144348,0.2998922445797836,1.0,3.921715216419737e-14,-5.826706630568145e-13,-1.2502634746606521e-08],"qvel":[-0.17284210239568065,-0.03839126746402165,0.030053768509186576,0.012711891088862969,-0.0013603632145120857,-0.1702784860506906,5.139905597851801e-05,2.5580880746846656e-05,0.0002204808662665527,0.00012488273429577912,5.5001849812356116e-05,-3.36815833375225e-05,-0.00015332448103404312,-0.00021105834614039686,1.4472551136783556e-12,9.74188474568422e-14,6.381861556391691e-15,2.2888474783274278e-12,-3.397585201532793e-11,-1.1462751578758751e-07],"joint_position_rad":[-1.588709996170369,-1.5786858320076083,1.3295587125079549,-1.3225647291958071,-1.5707337550550067,-0.01805233583770542],"joint_velocity_rad_s":[-0.17284210239568065,-0.03839126746402165,0.030053768509186576,0.012711891088862969,-0.0013603632145120857,-0.1702784860506906],"linkage_position_rad":[0.002927277762703669,0.00015652634086038255,0.003187924124470105,-0.003422549473148244,0.0029273269280748137,0.0001560391916019881,0.0031898629261582446,-0.003432964433406363],"tcp_position_m":[-0.12545418483942705,0.4790983018069188,0.4289272115836599],"tcp_quaternion_wxyz":[-0.0003333869005881541,0.7070576723578881,0.7071557441548391,0.00030053591296252063],"object_position_m":[-0.1344419483423277,0.4789461432144348,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.921715216419737e-14,-5.826706630568145e-13,-1.2502634746606521e-08],"object_linear_velocity_m_s":[1.4472551136783556e-12,9.74188474568422e-14,6.381861556391691e-15],"object_angular_velocity_rad_s":[2.288846762332273e-12,-3.397585206357045e-11,-1.1462751578758754e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313579150112039,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6226416863760484,-1.596335869501829,1.32537628446842,-1.3248557769145302,-1.5708644766469322,-0.05176572154283132,0.0],"actuator_force":[1.2734605469136113,-19.943568002832762,-20.3863634827444,-2.416712968247907,0.07067552548846834,0.1711557525061096,-0.29326223906787846],"issued_joint_targets_rad":[-1.626242098515351,-1.5870281153904864,1.336128717293738,-1.3198754095174952,-1.570870604258345,-0.05535983074176715],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.819999999999944,"joint_targets_rad":[-1.626242098515351,-1.5870281153904864,1.336128717293738,-1.3198754095174952,-1.570870604258345,-0.05535983074176715],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.839999999999951,"qpos":[-1.5922784597055297,-1.5794836527518203,1.330185342260332,-1.3223072157122475,-1.5707471078246007,-0.021599276865563108,0.002928413939896384,0.00015652566066887556,0.00318905643941769,-0.0034236271077604714,0.002928463055582871,0.00015603826689890586,0.0031909962395284173,-0.003434040554624244,-0.13444194834230938,0.478946143214436,0.2998922445797836,1.0,3.559704567981718e-14,-5.287571151094849e-13,-1.293744421824666e-08],"qvel":[-0.17297210670004634,-0.03801229864811523,0.02975783587638458,0.012192975409416863,-0.0013115750492114393,-0.170516729809052,3.9921168063263894e-05,2.552896460539216e-05,0.0002095691430207691,0.00013598480014236143,4.355722549852325e-05,-3.360283174729807e-05,-0.0001636455642988338,-0.000199805834368345,6.626854516591732e-13,4.4608881969616313e-14,6.3818615563916915e-15,-1.458472932636621e-12,2.1672745190445562e-11,-1.2418952631595396e-08],"joint_position_rad":[-1.5922784597055297,-1.5794836527518203,1.330185342260332,-1.3223072157122475,-1.5707471078246007,-0.021599276865563108],"joint_velocity_rad_s":[-0.17297210670004634,-0.03801229864811523,0.02975783587638458,0.012192975409416863,-0.0013115750492114393,-0.170516729809052],"linkage_position_rad":[0.002928413939896384,0.00015652566066887556,0.00318905643941769,-0.0034236271077604714,0.002928463055582871,0.00015603826689890586,0.0031909962395284173,-0.003434040554624244],"tcp_position_m":[-0.12374844294290019,0.4791652555184557,0.4289807837024668],"tcp_quaternion_wxyz":[-0.000297638907228988,0.7070652982023891,0.7071481455617536,0.0002751683472862687],"object_position_m":[-0.13444194834230938,0.478946143214436,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.559704567981718e-14,-5.287571151094849e-13,-1.293744421824666e-08],"object_linear_velocity_m_s":[6.626854516591732e-13,4.4608881969616313e-14,6.3818615563916915e-15],"object_angular_velocity_rad_s":[-1.4584723587235377e-12,2.1672745229067536e-11,-1.24189526315954e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313568761476297,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.626235994165058,-1.5970423087455903,1.3259446660228522,-1.3247001404504675,-1.5708682622532066,-0.05535983165005817,0.0],"actuator_force":[1.2737737609622855,-19.912392528294276,-20.38448682551325,-2.4157599100516336,0.07058029061818161,0.17139558865767057,-0.2932612417417717],"issued_joint_targets_rad":[-1.6298377105854587,-1.5877376622261457,1.3366817220595197,-1.3197193900959254,-1.5708739598893362,-0.05895532579217416],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.839999999999951,"joint_targets_rad":[-1.6298377105854587,-1.5877376622261457,1.3366817220595197,-1.3197193900959254,-1.5708739598893362,-0.05895532579217416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.859999999999958,"qpos":[-1.5958494882738434,-1.580273152464137,1.330804952700382,-1.3220594310765115,-1.5707595077234615,-0.025150852749323976,0.002929344772860647,0.00015652495816848838,0.003189984763314208,-0.003424509569553769,0.002929393846240741,0.00015603748459534672,0.0031919264091695917,-0.0034349211923237035,-0.1344419483422937,0.4789461432144371,0.2998922445797836,1.0,3.2349774667278234e-14,-4.802543241895497e-13,-1.3374295256506322e-08],"qvel":[-0.17309619289159134,-0.03760326328356335,0.02942203653602174,0.011726530524106795,-0.0012657810878984744,-0.17073855933720047,3.04891335734643e-05,2.5479754141718607e-05,0.00020068554719048293,0.0001451440731427532,3.416187028499006e-05,-3.351005402708047e-05,-0.00017195929432656023,-0.0001905605348394865,6.317081750751882e-13,4.254738666964347e-14,6.379085998830126e-15,-9.37935564659559e-13,1.3941235856002764e-11,-2.2673871329704475e-08],"joint_position_rad":[-1.5958494882738434,-1.580273152464137,1.330804952700382,-1.3220594310765115,-1.5707595077234615,-0.025150852749323976],"joint_velocity_rad_s":[-0.17309619289159134,-0.03760326328356335,0.02942203653602174,0.011726530524106795,-0.0012657810878984744,-0.17073855933720047],"linkage_position_rad":[0.002929344772860647,0.00015652495816848838,0.003189984763314208,-0.003424509569553769,0.002929393846240741,0.00015603748459534672,0.0031919264091695917,-0.0034349211923237035],"tcp_position_m":[-0.12204268961570851,0.4792322662138082,0.42903446776747334],"tcp_quaternion_wxyz":[-0.0002653241326485773,0.7070721891149441,0.7071412767897891,0.00025227645804513975],"object_position_m":[-0.1344419483422937,0.4789461432144371,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.2349774667278234e-14,-4.802543241895497e-13,-1.3374295256506322e-08],"object_linear_velocity_m_s":[6.317081750751882e-13,4.254738666964347e-14,6.379085998830126e-15],"object_angular_velocity_rad_s":[-9.379351699727e-13,1.3941235882558204e-11,-2.267387132970448e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313560226936878,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6298316809019193,-1.5977347006694502,1.3264981092472894,-1.3245438604303517,-1.5708716891249528,-0.05895532681889487,0.0],"actuator_force":[1.2740919004850184,-19.88179109720113,-20.382501520593905,-2.4148677293308083,0.07048740804418685,0.17161889893460014,-0.29326018597436165],"issued_joint_targets_rad":[-1.6334345903244647,-1.5884329459703754,1.3372197993676416,-1.3195627254013522,-1.570876991567699,-0.06255209746338246],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.859999999999958,"joint_targets_rad":[-1.6334345903244647,-1.5884329459703754,1.3372197993676416,-1.3195627254013522,-1.570876991567699,-0.06255209746338246],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.879999999999964,"qpos":[-1.5994229613033741,-1.5810537555928517,1.3314167882042676,-1.3218203815340577,-1.570771014826291,-0.028706743093008774,0.0029301072815109386,0.000156524272995363,0.00319074587598727,-0.003425232122369458,0.0029301563350550962,0.00015603690542273917,0.003192689949573333,-0.003435641899710969,-0.1344419483422803,0.47894614321443824,0.2998922445797836,1.0,2.903523542278076e-14,-4.309491360090433e-13,-1.3797928435088993e-08],"qvel":[-0.17321446054255812,-0.03716675267000011,0.02905026074375559,0.011307436298418412,-0.0012228464325966396,-0.1709450450938643,2.2740677544692652e-05,2.542999237471687e-05,0.00019347249995213693,0.00015269945454976605,2.6449819918132538e-05,-3.341675903542321e-05,-0.00017860231739465638,-0.0001829154122560379,6.322964182716299e-13,4.259795617274454e-14,6.3846371139532534e-15,-3.027033715502717e-13,4.497680587569629e-12,-4.1396763182821345e-08],"joint_position_rad":[-1.5994229613033741,-1.5810537555928517,1.3314167882042676,-1.3218203815340577,-1.570771014826291,-0.028706743093008774],"joint_velocity_rad_s":[-0.17321446054255812,-0.03716675267000011,0.02905026074375559,0.011307436298418412,-0.0012228464325966396,-0.1709450450938643],"linkage_position_rad":[0.0029301072815109386,0.000156524272995363,0.00319074587598727,-0.003425232122369458,0.0029301563350550962,0.00015603690542273917,0.003192689949573333,-0.003435641899710969],"tcp_position_m":[-0.1203369255584019,0.4792993352566958,0.4290882611089948],"tcp_quaternion_wxyz":[-0.0002361138739428255,0.707078416323359,0.7071350675591734,0.00023162031819336563],"object_position_m":[-0.1344419483422803,0.47894614321443824,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.903523542278076e-14,-4.309491360090433e-13,-1.3797928435088993e-08],"object_linear_velocity_m_s":[6.322964182716299e-13,4.259795617274454e-14,6.3846371139532534e-15],"object_angular_velocity_rad_s":[-3.0270321175312326e-13,4.497680598326916e-12,-4.139676318282135e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313553214432461,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6334286386234835,-1.5984130260556095,1.3270366156691513,-1.3243869610588495,-1.5708747896882602,-0.06255209859726031,0.0],"actuator_force":[1.2744295768047778,-19.851839857515643,-20.3804493677344,-2.414033392237684,0.07039721227511109,0.17182675726066066,-0.29325913331561587],"issued_joint_targets_rad":[-1.6370326319807045,-1.5891139372186278,1.3377429705611916,-1.3194054628535128,-1.5708797294137213,-0.06615003928828736],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.879999999999964,"joint_targets_rad":[-1.6370326319807045,-1.5891139372186278,1.3377429705611916,-1.3194054628535128,-1.5708797294137213,-0.06615003928828736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.899999999999971,"qpos":[-1.6029987596769302,-1.5818249383945875,1.3320201677736998,-1.3215891728174207,-1.5707816863813175,-0.03226664797876471,0.0029307318416749864,0.0001565236008960589,0.003191369973846775,-0.003425823635862405,0.0029307808954071204,0.0001560365074663131,0.003193316986207699,-0.00343623153167055,-0.1344419483422689,0.47894614321443935,0.2998922445797836,1.0,2.5002658629168724e-14,-3.711697773829557e-13,-1.417967958046376e-08],"qvel":[-0.17332697022856774,-0.03670528164447994,0.02864604932621675,0.0109309420790938,-0.0011826347338069227,-0.17113716418440195,1.6372484083583723e-05,2.5378829656797978e-05,0.0001876279904286336,0.00015894208163465043,2.0117828579324145e-05,-3.3323365838820086e-05,-0.00018387273867807595,-0.00017658081612655012,6.835799223402742e-13,4.603118434894979e-14,6.384637113953252e-15,5.023162141869052e-13,-7.485416723308553e-12,-7.558003558529033e-08],"joint_position_rad":[-1.6029987596769302,-1.5818249383945875,1.3320201677736998,-1.3215891728174207,-1.5707816863813175,-0.03226664797876471],"joint_velocity_rad_s":[-0.17332697022856774,-0.03670528164447994,0.02864604932621675,0.0109309420790938,-0.0011826347338069227,-0.17113716418440195],"linkage_position_rad":[0.0029307318416749864,0.0001565236008960589,0.003191369973846775,-0.003425823635862405,0.0029307808954071204,0.0001560365074663131,0.003193316986207699,-0.00343623153167055],"tcp_position_m":[-0.11863115121145218,0.4793664641335821,0.42914216058910304],"tcp_quaternion_wxyz":[-0.0002097102894248257,0.7070840442247218,0.7071294542464029,0.00021298260584045288],"object_position_m":[-0.1344419483422689,0.47894614321443935,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.5002658629168724e-14,-3.711697773829557e-13,-1.417967958046376e-08],"object_linear_velocity_m_s":[6.835799223402742e-13,4.603118434894979e-14,6.384637113953252e-15],"object_angular_velocity_rad_s":[5.023160580113338e-13,-7.485416733774513e-12,-7.558003558529034e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931354744870989,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.637026761263911,-1.599077265565714,1.3275602077154978,-1.3242294872520444,-1.57087759420496,-0.06615004051912744,0.0],"actuator_force":[1.2747849174656949,-19.822541684461157,-20.378339846890867,-2.413251425221233,0.07030956155949752,0.17202014825883083,-0.29325808841741985],"issued_joint_targets_rad":[-1.6406317309079779,-1.5897806075567413,1.3382512570947702,-1.319247649433068,-1.5708822008118257,-0.069749045986127],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.899999999999971,"joint_targets_rad":[-1.6406317309079779,-1.5897806075567413,1.3382512570947702,-1.319247649433068,-1.5708822008118257,-0.069749045986127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.919999999999978,"qpos":[-1.606576765442659,-1.5825862251183673,1.3326144775390965,-1.3213650008137623,-1.5707915767898852,-0.035830286129080555,0.0029312433501955133,0.0001565229335147533,0.003191881805592598,-0.0034263077549426127,0.002931292422437591,0.00015603626889275585,0.0031938322252920803,-0.0034367137355122237,-0.13444194834225948,0.4789461432144401,0.2998922445797836,1.0,1.9637534828083758e-14,-2.9161015670289456e-13,-1.4466372658592708e-08],"qvel":[-0.17343377928508066,-0.036221141707044664,0.028212598420760047,0.010592751752169898,-0.0011450097235385017,-0.171315805559378,1.1135552148346681e-05,2.532625253052214e-05,0.00018290415184896093,0.00016410853464601945,1.4916952706907826e-05,-3.322971094973389e-05,-0.0001880174460045475,-0.0001713201866704561,3.6279777581989114e-13,2.443326790301538e-14,6.384637113953252e-15,-9.200212545985087e-13,1.365977512823668e-11,-8.188477918055232e-09],"joint_position_rad":[-1.606576765442659,-1.5825862251183673,1.3326144775390965,-1.3213650008137623,-1.5707915767898852,-0.035830286129080555],"joint_velocity_rad_s":[-0.17343377928508066,-0.036221141707044664,0.028212598420760047,0.010592751752169898,-0.0011450097235385017,-0.171315805559378],"linkage_position_rad":[0.0029312433501955133,0.0001565229335147533,0.003191881805592598,-0.0034263077549426127,0.002931292422437591,0.00015603626889275585,0.0031938322252920803,-0.0034367137355122237],"tcp_position_m":[-0.11692536691364946,0.47943365425228673,0.4291961633278246],"tcp_quaternion_wxyz":[-0.000185844051006692,0.7070891309514393,0.7071243793497877,0.00019616702958870824],"object_position_m":[-0.13444194834225948,0.4789461432144401,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.9637534828083758e-14,-2.9161015670289456e-13,-1.4466372658592708e-08],"object_linear_velocity_m_s":[3.6279777581989114e-13,2.443326790301538e-14,6.384637113953252e-15],"object_angular_velocity_rad_s":[-9.20020854608027e-13,1.3659775155177022e-11,-8.188477918055234e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313542703985285,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6406259438892903,-1.5997273999429147,1.32806890781313,-1.3240714837265213,-1.5708801301951347,-0.06974904730470984,0.0],"actuator_force":[1.2751548207697851,-19.79389296627687,-20.376178820236873,-2.4125166315965316,0.07022426972912399,0.1721999681231594,-0.2932570511559315],"issued_joint_targets_rad":[-1.6442317833015958,-1.590432929598342,1.3387446792048943,-1.3190893302711946,-1.5708844306030783,-0.07334901318942695],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.919999999999978,"joint_targets_rad":[-1.6442317833015958,-1.590432929598342,1.3387446792048943,-1.3190893302711946,-1.5708844306030783,-0.07334901318942695],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.939999999999984,"qpos":[-1.6101568617834519,-1.5833371835524888,1.3331991641914063,-1.3211471427732975,-1.5708007376321147,-0.039397393211381526,0.0029316622111987705,0.0001565222641183683,0.003192301651910943,-0.003426703857887064,0.0029317113186883037,0.00015603617056267495,0.003194255910209943,-0.003437107891021821,-0.13444194834225004,0.4789461432144408,0.2998922445797836,1.0,1.83277653138391e-14,-2.720173704557858e-13,-1.4931726743801376e-08],"qvel":[-0.17353494420071347,-0.03571640815225564,0.027752792687435975,0.010288989003240507,-0.001109836490970519,-0.171481777194527,6.8257637481815684e-06,2.5272283449222848e-05,0.0001790977234107379,0.00016839263337461841,1.0643122640345451e-05,-3.313561443674976e-05,-0.00019123899726150576,-0.00016693961008263622,3.4434424648445024e-13,2.3202189639226328e-14,6.386024892734032e-15,-6.94265795790968e-13,1.0310750994381156e-11,-1.495009283062841e-08],"joint_position_rad":[-1.6101568617834519,-1.5833371835524888,1.3331991641914063,-1.3211471427732975,-1.5708007376321147,-0.039397393211381526],"joint_velocity_rad_s":[-0.17353494420071347,-0.03571640815225564,0.027752792687435975,0.010288989003240507,-0.001109836490970519,-0.171481777194527],"linkage_position_rad":[0.0029316622111987705,0.0001565222641183683,0.003192301651910943,-0.003426703857887064,0.0029317113186883037,0.00015603617056267495,0.003194255910209943,-0.003437107891021821],"tcp_position_m":[-0.11521957292198837,0.4795009069308946,0.42925026674808664],"tcp_quaternion_wxyz":[-0.00016427166856230135,0.7070937289753774,0.7071197909115785,0.00018099635043493186],"object_position_m":[-0.13444194834225004,0.4789461432144408,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.83277653138391e-14,-2.720173704557858e-13,-1.4931726743801376e-08],"object_linear_velocity_m_s":[3.4434424648445024e-13,2.3202189639226328e-14,6.386024892734032e-15],"object_angular_velocity_rad_s":[-6.942654797429652e-13,1.0310751015662332e-11,-1.4950092830628415e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538795269352,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6442260824337336,-1.6003634101333526,1.3285627370693847,-1.3239129935669376,-1.570882422629897,-0.07334901458741588,0.0],"actuator_force":[1.2755363797218706,-19.765889900825186,-20.373971319017528,-2.4118242971441077,0.07014115020592726,0.17236703143552745,-0.2932560209262963],"issued_joint_targets_rad":[-1.6478326860656605,-1.591070876894473,1.3392232558390558,-1.3189305486196867,-1.5708864413104446,-0.07694983730297048],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.939999999999984,"joint_targets_rad":[-1.6478326860656605,-1.591070876894473,1.3392232558390558,-1.3189305486196867,-1.5708864413104446,-0.07694983730297048],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.959999999999991,"qpos":[-1.613738932996633,-1.5840774208971746,1.3337737290712801,-1.3209349493363984,-1.5708092177140645,-0.04296772028976116,0.0029320051465302685,0.00015652158750763983,0.0031926461310199405,-0.003427027826376423,0.00293205430456138,0.00015603619602369513,0.0031946046255444073,-0.003437429881179542,-0.13444194834224193,0.47894614321444123,0.2998922445797836,1.0,1.7021064432554687e-14,-2.5242034859175525e-13,-1.5396781929990965e-08],"qvel":[-0.17363052030158138,-0.0351929592114597,0.02726923535653145,0.01001615746766088,-0.001076982421104707,-0.17163581319828267,3.27582484166308e-06,2.521693583844112e-05,0.00017604209413737385,0.0001719532325865617,7.1290902652287665e-06,-3.3040912823559276e-05,-0.00019370336432688974,-0.00016328017587965846,3.368796698321166e-13,2.2714887574241314e-14,6.3832493351724685e-15,-4.182549817784899e-13,6.2199716847788e-12,-2.7295094140300493e-08],"joint_position_rad":[-1.613738932996633,-1.5840774208971746,1.3337737290712801,-1.3209349493363984,-1.5708092177140645,-0.04296772028976116],"joint_velocity_rad_s":[-0.17363052030158138,-0.0351929592114597,0.02726923535653145,0.01001615746766088,-0.001076982421104707,-0.17163581319828267],"linkage_position_rad":[0.0029320051465302685,0.00015652158750763983,0.0031926461310199405,-0.003427027826376423,0.00293205430456138,0.00015603619602369513,0.0031946046255444073,-0.003437429881179542],"tcp_position_m":[-0.11351376942051966,0.4795682234041996,0.42930446855519616],"tcp_quaternion_wxyz":[-0.0001447730164741394,0.7070978856608476,0.7071156419864542,0.00016731053986536638],"object_position_m":[-0.13444194834224193,0.47894614321444123,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.7021064432554687e-14,-2.5242034859175525e-13,-1.5396781929990965e-08],"object_linear_velocity_m_s":[3.368796698321166e-13,2.2714887574241314e-14,6.3832493351724685e-15],"object_angular_velocity_rad_s":[-4.1825477646372017e-13,6.2199716985875434e-12,-2.72950941403005e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535571024589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6478270735644722,-1.6009852772734803,1.329041715211019,-1.3237540581754712,-1.57088449415651,-0.07694983877282767,0.0],"actuator_force":[1.2759269849539123,-19.738529068027674,-20.371721863134553,-2.411170166302554,0.07006002088769492,0.17252207829501032,-0.2932549971301168],"issued_joint_targets_rad":[-1.651434336736454,-1.591694423860636,1.3396870046882539,-1.3187713459135668,-1.5708882533485191,-0.08055141541973845],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.959999999999991,"joint_targets_rad":[-1.651434336736454,-1.591694423860636,1.3396870046882539,-1.3187713459135668,-1.5708882533485191,-0.08055141541973845],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.979999999999998,"qpos":[-1.6173228644675306,-1.584806580020866,1.334337722829806,-1.3207278373285918,-1.570817063130628,-0.04654103241627288,0.0029322858602447498,0.00015652089973302615,0.003192928859730009,-0.0034272926764934634,0.002932335082808344,0.00015603633115759518,0.0031948919577774616,-0.0034376927233171553,-0.13444194834223525,0.47894614321444146,0.2998922445797836,1.0,1.4690858738079337e-14,-2.1771349620160944e-13,-1.5786020268533128e-08],"qvel":[-0.17372056144085862,-0.03465249471208364,0.02676427531683987,0.00977110406724267,-0.0010463179395823487,-0.17177858050250583,3.486257596018811e-07,2.516021465905669e-05,0.0001736007077537403,0.00017492052809798796,4.2377877862804745e-06,-3.294546504712816e-05,-0.0001955465246086833,-0.00016021163847550183,3.406552765658767e-13,2.2990762722825365e-14,6.379085998830124e-15,-4.5972881861160314e-14,6.976797391166301e-13,-4.983394903162787e-08],"joint_position_rad":[-1.6173228644675306,-1.584806580020866,1.334337722829806,-1.3207278373285918,-1.570817063130628,-0.04654103241627288],"joint_velocity_rad_s":[-0.17372056144085862,-0.03465249471208364,0.02676427531683987,0.00977110406724267,-0.0010463179395823487,-0.17177858050250583],"linkage_position_rad":[0.0029322858602447498,0.00015652089973302615,0.003192928859730009,-0.0034272926764934634,0.002932335082808344,0.00015603633115759518,0.0031948919577774616,-0.0034376927233171553],"tcp_position_m":[-0.11180795652777273,0.4796356048312501,0.4293587667129795],"tcp_quaternion_wxyz":[-0.00012714909206039204,0.7071016437638036,0.7071118901598596,0.00015496511060757813],"object_position_m":[-0.13444194834223525,0.47894614321444146,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.4690858738079337e-14,-2.1771349620160944e-13,-1.5786020268533128e-08],"object_linear_velocity_m_s":[3.406552765658767e-13,2.2990762722825365e-14,6.379085998830124e-15],"object_angular_velocity_rad_s":[-4.597283813494073e-14,6.976797420322942e-13,-4.983394903162788e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313532907124568,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6514288146030165,-1.601592982687592,1.3295058606256913,-1.3235947173156333,-1.5708863653080105,-0.08055141695464886,0.0],"actuator_force":[1.2763243053714177,-19.7118074486184,-20.369434534964967,-2.410550400245029,0.0699807052669712,0.1726657810625909,-0.29325397922038404],"issued_joint_targets_rad":[-1.6550366334161903,-1.5923035457213706,1.3401359422649621,-1.3186117618664188,-1.5708898852167077,-0.08415364524809243],"issued_gripper_0_255":0.0,"command":{"t_seconds":4.979999999999998,"joint_targets_rad":[-1.6550366334161903,-1.5923035457213706,1.3401359422649621,-1.3186117618664188,-1.5708898852167077,-0.08415364524809243],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.000000000000004,"qpos":[-1.620908542637479,-1.5855243360738775,1.3348907406067165,-1.3205252832547643,-1.570824317340984,-0.05011710735011719,0.002932515583200016,0.00015652019784098258,0.003193160995305887,-0.0034275090757943773,0.002932564883110971,0.00015603656382440984,0.0031951290368255414,-0.0034379070861913427,-0.13444194834222964,0.4789461432144415,0.2998922445797836,1.0,1.2080020635699342e-14,-1.7888012916110507e-13,-1.611910965733006e-08],"qvel":[-0.1738051197453426,-0.03409655314003047,0.026240031766823754,0.009550985688249584,-0.0010177171073648362,-0.1719106849640363,-2.0682049511527724e-06,2.5102118351048157e-05,0.00017166164176637876,0.00017740122771177906,1.8568817655126961e-06,-3.28491496944153e-05,-0.00019687987763934714,-0.00015762724437125264,3.7509621455825975e-13,2.533494089322867e-14,6.386024892734032e-15,4.299055060909365e-13,-6.3273253847770765e-12,-9.098420629286037e-08],"joint_position_rad":[-1.620908542637479,-1.5855243360738775,1.3348907406067165,-1.3205252832547643,-1.570824317340984,-0.05011710735011719],"joint_velocity_rad_s":[-0.1738051197453426,-0.03409655314003047,0.026240031766823754,0.009550985688249584,-0.0010177171073648362,-0.1719106849640363],"linkage_position_rad":[0.002932515583200016,0.00015652019784098258,0.003193160995305887,-0.0034275090757943773,0.002932564883110971,0.00015603656382440984,0.0031951290368255414,-0.0034379070861913427],"tcp_position_m":[-0.11010213430334372,0.47970305230236227,0.42941315942177094],"tcp_quaternion_wxyz":[-0.000111219988727952,0.7071050418819672,0.7071084971121889,0.00014382960873941868],"object_position_m":[-0.13444194834222964,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2080020635699342e-14,-1.7888012916110507e-13,-1.611910965733006e-08],"object_linear_velocity_m_s":[3.7509621455825975e-13,2.533494089322867e-14,6.386024892734032e-15],"object_angular_velocity_rad_s":[4.299053346597662e-13,-6.327325396438282e-12,-9.098420629286039e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313530701901282,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6550312034568502,-1.6021865078961777,1.329955190448045,-1.3234350091905696,-1.5708880546963482,-0.08415364684189487,0.0],"actuator_force":[1.2767262593947635,-19.685722388588147,-20.36711302407184,-2.4099615367276783,0.06990303305428824,0.17279875051479365,-0.29325296669962114],"issued_joint_targets_rad":[-1.658639474713429,-1.5928982184611842,1.3405700839784607,-1.318451834561164,-1.570891353675536,-0.0877564250464131],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.000000000000004,"joint_targets_rad":[-1.658639474713429,-1.5928982184611842,1.3405700839784607,-1.318451834561164,-1.570891353675536,-0.0877564250464131],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.020000000000011,"qpos":[-1.6244958549673933,-1.586230393426186,1.3354324176763106,-1.3203268174253338,-1.5708310212537857,-0.05369573439323226,0.002932703519375129,0.000156519479667584,0.0031933516795266837,-0.00342768576708444,0.0029327529083871,0.00015603688356027464,0.0031953249798050564,-0.0034380817137402773,-0.13444194834222467,0.4789461432144415,0.2998922445797836,1.0,1.0086986502646503e-14,-1.4922474667191977e-13,-1.6464234424223885e-08],"qvel":[-0.1738842454234365,-0.03352652708525121,0.02569841649460181,0.009353239070891722,-0.0009910580807481774,-0.172032676915953,-4.0667642836078485e-06,2.504264070226081e-05,0.00017013316311215485,0.00017948279005025944,-1.0569033064163392e-07,-3.275186235382429e-05,-0.00019779468501989646,-0.0001554394963848096,1.862305765051179e-13,1.2583200825727305e-14,6.384637113953251e-15,-4.463167497975012e-13,6.61112122490464e-12,-9.857393666936241e-09],"joint_position_rad":[-1.6244958549673933,-1.586230393426186,1.3354324176763106,-1.3203268174253338,-1.5708310212537857,-0.05369573439323226],"joint_velocity_rad_s":[-0.1738842454234365,-0.03352652708525121,0.02569841649460181,0.009353239070891722,-0.0009910580807481774,-0.172032676915953],"linkage_position_rad":[0.002932703519375129,0.000156519479667584,0.0031933516795266837,-0.00342768576708444,0.0029327529083871,0.00015603688356027464,0.0031953249798050564,-0.0034380817137402773],"tcp_position_m":[-0.10839630275383438,0.47977056684551184,0.4294676450983602],"tcp_quaternion_wxyz":[-9.682306361270292e-05,0.7071081148606891,0.7071054282245998,0.00013378625195513538],"object_position_m":[-0.13444194834222467,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0086986502646503e-14,-1.4922474667191977e-13,-1.6464234424223885e-08],"object_linear_velocity_m_s":[1.862305765051179e-13,1.2583200825727305e-14,6.384637113953251e-15],"object_angular_velocity_rad_s":[-4.4631652916146763e-13,6.611121239800028e-12,-9.857393666936243e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313528872086663,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6586341385579726,-1.602765834624535,1.3303897206423891,-1.3232749705184108,-1.570889579188712,-0.0877564266935379,0.0],"actuator_force":[1.2771309882159585,-19.660271562597245,-20.36476066568366,-2.4094004536276543,0.069826840611654,0.17292154144247718,-0.2932519591150402],"issued_joint_targets_rad":[-1.66224275968975,-1.5934784187808875,1.3409894442008958,-1.3182916005301502,-1.5708926739071967,-0.0913596535646897],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.020000000000011,"joint_targets_rad":[-1.66224275968975,-1.5934784187808875,1.3409894442008958,-1.3182916005301502,-1.5708926739071967,-0.0913596535646897],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.040000000000018,"qpos":[-1.6280846898981178,-1.5869244828984104,1.3359624255155487,-1.3201320186528382,-1.5708372133196222,-0.0572767133318034,0.002932857211648382,0.00015651874367167347,0.0031935084025949932,-0.0034278299157162097,0.0029329067005574366,0.00015603728132510079,0.0031954872546723777,-0.0034382237723873553,-0.1344419483422198,0.4789461432144415,0.2998922445797836,1.0,9.69960974285819e-15,-1.4316906540685704e-13,-1.6961874764474452e-08],"qvel":[-0.1739579866284975,-0.0329436772124064,0.025141153987395283,0.009175553632292987,-0.000966223455093774,-0.17214505621894874,-5.722533015211858e-06,2.4981772135013672e-05,0.00016894008636814497,0.00018123689729331236,-1.7253780440933396e-06,-3.2653512884402545e-05,-0.00019836570754988353,-0.00015357667675103436,1.818807587428592e-13,1.2316357966654506e-14,6.377698220049344e-15,-3.335923256896278e-13,4.935376460469432e-12,-1.7997111533986896e-08],"joint_position_rad":[-1.6280846898981178,-1.5869244828984104,1.3359624255155487,-1.3201320186528382,-1.5708372133196222,-0.0572767133318034],"joint_velocity_rad_s":[-0.1739579866284975,-0.0329436772124064,0.025141153987395283,0.009175553632292987,-0.000966223455093774,-0.17214505621894874],"linkage_position_rad":[0.002932857211648382,0.00015651874367167347,0.0031935084025949932,-0.0034278299157162097,0.0029329067005574366,0.00015603728132510079,0.0031954872546723777,-0.0034382237723873553],"tcp_position_m":[-0.10669046183821077,0.47983814943217507,0.4295222223577898],"tcp_quaternion_wxyz":[-8.381128105692602e-05,0.7071108941589505,0.7071026522225393,0.0001247286998289436],"object_position_m":[-0.1344419483422198,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.69960974285819e-15,-1.4316906540685704e-13,-1.6961874764474452e-08],"object_linear_velocity_m_s":[1.818807587428592e-13,1.2316357966654506e-14,6.377698220049344e-15],"object_angular_velocity_rad_s":[-3.3359215310989353e-13,4.935376472135263e-12,-1.79971115339869e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313527349487061,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6622375188078744,-1.6033309448112831,1.3308094660754097,-1.3231146365983997,-1.5708909540681426,-0.09135965526010226,0.0],"actuator_force":[1.2775368318857545,-19.635452940783125,-20.362380475235568,-2.408864336010083,0.06975197124904753,0.1730346577454469,-0.2932509560549944],"issued_joint_targets_rad":[-1.6658463878121597,-1.5940441240592473,1.341394036326874,-1.3181310948269804,-1.5708938596617192,-0.09496322999245262],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.040000000000018,"joint_targets_rad":[-1.6658463878121597,-1.5940441240592473,1.341394036326874,-1.3181310948269804,-1.5708938596617192,-0.09496322999245262],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.0600000000000245,"qpos":[-1.6316749368085457,-1.587606359258038,1.3364804682533693,-1.3199405094635042,-1.570842929628694,-0.06085985347415497,0.0029329828415675793,0.00015651798880051202,0.003193637301355954,-0.0034279473942228993,0.0029330324403056994,0.00015603774928981632,0.003195621978204876,-0.0034383391356659705,-0.13444194834221576,0.4789461432144415,0.2998922445797836,1.0,8.752835494354491e-15,-1.2854166227205704e-13,-1.739754939944453e-08],"qvel":[-0.17402638936908146,-0.03234914489936169,0.02456979959068453,0.009015846930860936,-0.0009431005096871,-0.17224827685791744,-7.097373860749178e-06,2.491950099817597e-05,0.00016802078880021163,0.00018272230233956733,-3.064015815134743e-06,-3.2554023452880256e-05,-0.00019865418602964296,-0.00015198000283907977,1.7809906985880056e-13,1.2131063020987334e-14,6.377698220049343e-15,-1.6696539486378876e-13,2.5039501171856544e-12,-3.2858180824166856e-08],"joint_position_rad":[-1.6316749368085457,-1.587606359258038,1.3364804682533693,-1.3199405094635042,-1.570842929628694,-0.06085985347415497],"joint_velocity_rad_s":[-0.17402638936908146,-0.03234914489936169,0.02456979959068453,0.009015846930860936,-0.0009431005096871,-0.17224827685791744],"linkage_position_rad":[0.0029329828415675793,0.00015651798880051202,0.003193637301355954,-0.0034279473942228993,0.0029330324403056994,0.00015603774928981632,0.003195621978204876,-0.0034383391356659705],"tcp_position_m":[-0.1049846114726473,0.47990580098265667,0.4295768899968586],"tcp_quaternion_wxyz":[-7.205171504971881e-05,0.7071134081794576,0.7071001408534209,0.0001165609433145235],"object_position_m":[-0.13444194834221576,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,8.752835494354491e-15,-1.2854166227205704e-13,-1.739754939944453e-08],"object_linear_velocity_m_s":[1.7809906985880056e-13,1.2131063020987334e-14,6.377698220049343e-15],"object_angular_velocity_rad_s":[-1.6696529929130663e-13,2.5039501235704353e-12,-3.285818082416686e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313526078258232,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6658412435283962,-1.60388182061721,1.3312144405817836,-1.3229540413700784,-1.5708921931798068,-0.09496323173160219,0.0],"actuator_force":[1.2779423079314256,-19.61126475859919,-20.359975179444973,-2.408350646373151,0.06967827541234328,0.1731385570681354,-0.2932499571452845],"issued_joint_targets_rad":[-1.6694502589108036,-1.5945953123193033,1.3417838728274087,-1.3179703510911696,-1.5708949233899887,-0.0985670539125557],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.0600000000000245,"joint_targets_rad":[-1.6694502589108036,-1.5945953123193033,1.3417838728274087,-1.3179703510911696,-1.5708949233899887,-0.0985670539125557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.080000000000031,"qpos":[-1.6352664859723842,-1.5882757989555956,1.336986279464266,-1.3197519517737635,-1.5708482040119158,-0.06444497277635372,0.002933085475024517,0.00015651721438211013,0.0031937434036862834,-0.003428043015596818,0.002933135192744014,0.00015603828065878636,0.0031957341601706736,-0.003438432617503087,-0.1344419483422123,0.4789461432144415,0.2998922445797836,1.0,7.66909831847709e-15,-1.1234486702626828e-13,-1.7804699740332283e-08],"qvel":[-0.17408949745888594,-0.03174396366974525,0.02398575590718501,0.008872242514010982,-0.000921581368911149,-0.1723427511250598,-8.241988740042936e-06,2.4855814226450096e-05,0.00016732476359729352,0.0001839871611264087,-4.172279986045102e-06,-3.245332682121031e-05,-0.000198710284322633,-0.0001506012925711806,1.8515552474356594e-13,1.2637865858163172e-14,6.379085998830125e-15,4.079684231006037e-14,-5.771220764814924e-13,-5.999074046104519e-08],"joint_position_rad":[-1.6352664859723842,-1.5882757989555956,1.336986279464266,-1.3197519517737635,-1.5708482040119158,-0.06444497277635372],"joint_velocity_rad_s":[-0.17408949745888594,-0.03174396366974525,0.02398575590718501,0.008872242514010982,-0.000921581368911149,-0.1723427511250598],"linkage_position_rad":[0.002933085475024517,0.00015651721438211013,0.0031937434036862834,-0.003428043015596818,0.002933135192744014,0.00015603828065878636,0.0031957341601706736,-0.003438432617503087],"tcp_position_m":[-0.10327875153490237,0.47997352237094876,0.42963164697918255],"tcp_quaternion_wxyz":[-6.14241953851556e-05,0.7071156825663951,0.7070978685952152,0.00010919630192479187],"object_position_m":[-0.1344419483422123,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.66909831847709e-15,-1.1234486702626828e-13,-1.7804699740332283e-08],"object_linear_velocity_m_s":[1.8515552474356594e-13,1.2637865858163172e-14,6.379085998830125e-15],"object_angular_velocity_rad_s":[4.0796835238393326e-14,-5.771220770140938e-13,-5.99907404610452e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313525012672673,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6694452124180394,-1.6044184444342764,1.3316046570235702,-1.32279321746651,-1.5708933090641537,-0.0985670556913292,0.0],"actuator_force":[1.278346092243737,-19.587705489463588,-20.35754724426488,-2.407857097774354,0.06960561077221428,0.17323365501824384,-0.29324896204479606],"issued_joint_targets_rad":[-1.6730542731415916,-1.595131962198716,1.3421589652985408,-1.3178094016061983,-1.570895876364724,-0.10217102526033536],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.080000000000031,"joint_targets_rad":[-1.6730542731415916,-1.595131962198716,1.3421589652985408,-1.3178094016061983,-1.570895876364724,-0.10217102526033536],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.100000000000038,"qpos":[-1.6388592285142924,-1.5889325980778444,1.337479619272736,-1.319566042986547,-1.570853068143978,-0.06803189704763765,0.002933169263594917,0.00015651642003819275,0.0031938308287646953,-0.00342812072445788,0.0029332191087446083,0.00015603886951932384,0.0031958279034050743,-0.0034385081633932363,-0.13444194834220952,0.4789461432144415,0.2998922445797836,1.0,5.958206322151101e-15,-8.718696886272812e-14,-1.8083773127226568e-08],"qvel":[-0.17414735250015603,-0.031129069533685834,0.02339028760525289,0.008743049918326555,-0.0009015630927602726,-0.17242885342694886,-9.197932487357021e-06,2.4790698128968336e-05,0.00016681061482766668,0.00018507094411812202,-5.091702275277168e-06,-3.2351364803725635e-05,-0.00019857509075914075,-0.00014940105251723518,2.107952085574693e-13,1.4400994421645265e-14,6.377698220049343e-15,3.125625666713802e-13,-4.565531233699253e-12,-1.0952794253405545e-07],"joint_position_rad":[-1.6388592285142924,-1.5889325980778444,1.337479619272736,-1.319566042986547,-1.570853068143978,-0.06803189704763765],"joint_velocity_rad_s":[-0.17414735250015603,-0.031129069533685834,0.02339028760525289,0.008743049918326555,-0.0009015630927602726,-0.17242885342694886],"linkage_position_rad":[0.002933169263594917,0.00015651642003819275,0.0031938308287646953,-0.00342812072445788,0.0029332191087446083,0.00015603886951932384,0.0031958279034050743,-0.0034385081633932363],"tcp_position_m":[-0.10157288186827589,0.48004131442916964,0.42968649242167606],"tcp_quaternion_wxyz":[-5.1820083735712187e-05,0.7071177404740282,0.707095812393019,0.00010255651817139053],"object_position_m":[-0.13444194834220952,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,5.958206322151101e-15,-8.718696886272812e-14,-1.8083773127226568e-08],"object_linear_velocity_m_s":[2.107952085574693e-13,1.4400994421645265e-14,6.377698220049343e-15],"object_angular_velocity_rad_s":[3.125624206461367e-13,-4.565531243698693e-12,-1.0952794253405548e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313524115290081,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.673049325513316,-1.6049407988945723,1.3319801273437544,-1.3226321962619814,-1.5708943130780542,-0.10217102707501544,0.0],"actuator_force":[1.2787470020152796,-19.564773819981383,-20.35509890006415,-2.407381629549832,0.06953384223800185,0.17332032900599614,-0.29324797044316314],"issued_joint_targets_rad":[-1.6766583309533272,-1.5956540529236747,1.3425193245050784,-1.3176482773515972,-1.5708967287904596,-0.10577504428769392],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.100000000000038,"joint_targets_rad":[-1.6766583309533272,-1.5956540529236747,1.3425193245050784,-1.3176482773515972,-1.5708967287904596,-0.10577504428769392],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1200000000000445,"qpos":[-1.6424530563659994,-1.5895765704972797,1.337960271738446,-1.3193825124665646,-1.5708575516471162,-0.07162045922849725,0.0029332376095448837,0.00015651560561571914,0.003193902951190437,-0.003428183753746531,0.002933287589938821,0.0001560395107155747,0.003195906567754081,-0.003438569007088487,-0.13444194834220682,0.4789461432144415,0.2998922445797836,1.0,5.294364923094021e-15,-7.74519198920841e-14,-1.8499238702798637e-08],"qvel":[-0.17419999389485602,-0.030505310340540746,0.022784534790722323,0.008626746613070847,-0.0008829477082877668,-0.17250692374950247,-9.999263314250797e-06,2.4724138887280172e-05,0.00016644441468483315,0.00018600600466795088,-5.856320027167116e-06,-3.224808709952895e-05,-0.00019828225856717682,-0.00014834691018885613,9.732352082181621e-14,6.651667526503378e-15,6.5192516556890496e-15,-2.2147759405178658e-13,3.2384594053581044e-12,-1.186645563090011e-08],"joint_position_rad":[-1.6424530563659994,-1.5895765704972797,1.337960271738446,-1.3193825124665646,-1.5708575516471162,-0.07162045922849725],"joint_velocity_rad_s":[-0.17419999389485602,-0.030505310340540746,0.022784534790722323,0.008626746613070847,-0.0008829477082877668,-0.17250692374950247],"linkage_position_rad":[0.0029332376095448837,0.00015651560561571914,0.003193902951190437,-0.003428183753746531,0.002933287589938821,0.0001560395107155747,0.003195906567754081,-0.003438569007088487],"tcp_position_m":[-0.09986700228518684,0.4801091779516115,0.4297414255823297],"tcp_quaternion_wxyz":[-4.314116718155558e-05,0.7071196028090384,0.7070939514209414,9.657093983667153e-05],"object_position_m":[-0.13444194834220682,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,5.294364923094021e-15,-7.74519198920841e-14,-1.8499238702798637e-08],"object_linear_velocity_m_s":[9.732352082181621e-14,6.651667526503378e-15,6.5192516556890496e-15],"object_angular_velocity_rad_s":[-2.214774723955598e-13,3.2384594136780877e-12,-1.1866455630900116e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931352335545843,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6766534831547226,-1.605448866879146,1.332340862614439,-1.3224710079147284,-1.5708952155049625,-0.10577504613492106,0.0],"actuator_force":[1.2791439804959737,-19.542468627515973,-20.352632164302577,-2.406922385389066,0.06946284190564711,0.1733989217383467,-0.2932469820574782],"issued_joint_targets_rad":[-1.6802623330589916,-1.596161564285918,1.342864960419865,-1.3174870080496073,-1.570897489903484,-0.10937901153169735],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.1200000000000445,"joint_targets_rad":[-1.6802623330589916,-1.596161564285918,1.342864960419865,-1.3174870080496073,-1.570897489903484,-0.10937901153169735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.140000000000051,"qpos":[-1.646047862222903,-1.5902075461991634,1.3384280424948698,-1.3192011183577426,-1.570861682194551,-0.07521049873488336,0.0029332933010598108,0.00015651477113140354,0.0031939625354700583,-0.00342823475312894,0.002933343423939285,0.00015604019974103982,0.0031959729044008173,-0.0034386177990122445,-0.13444194834220446,0.4789461432144415,0.2998922445797836,1.0,4.963299992405945e-15,-7.2496248205002e-14,-1.897061438626375e-08],"qvel":[-0.17424745887884427,-0.029873454237506106,0.022169525081226087,0.008521961698348018,-0.0008656421920146931,-0.17257727081175359,-1.0673895435096115e-05,2.4656122953596932e-05,0.00016619835608529704,0.00018681886196516716,-6.494028646618364e-06,-3.2143450200991375e-05,-0.000197859349692366,-0.000147412330808984,9.409719578804253e-14,6.4415901565925325e-15,6.5456194525238975e-15,-1.5030396412430153e-13,2.1998761428926028e-12,-2.166515132877064e-08],"joint_position_rad":[-1.646047862222903,-1.5902075461991634,1.3384280424948698,-1.3192011183577426,-1.570861682194551,-0.07521049873488336],"joint_velocity_rad_s":[-0.17424745887884427,-0.029873454237506106,0.022169525081226087,0.008521961698348018,-0.0008656421920146931,-0.17257727081175359],"linkage_position_rad":[0.0029332933010598108,0.00015651477113140354,0.0031939625354700583,-0.00342823475312894,0.002933343423939285,0.00015604019974103982,0.0031959729044008173,-0.0034386177990122445],"tcp_position_m":[-0.09816111257041601,0.4801771136984382,0.42979644584917565],"tcp_quaternion_wxyz":[-3.529865791802053e-05,0.7071212884491758,0.7070922668668906,9.117578157116855e-05],"object_position_m":[-0.13444194834220446,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.963299992405945e-15,-7.2496248205002e-14,-1.897061438626375e-08],"object_linear_velocity_m_s":[9.409719578804253e-14,6.4415901565925325e-15,6.5456194525238975e-15],"object_angular_velocity_rad_s":[-1.5030387751701308e-13,2.1998761488103805e-12,-2.166515132877065e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313522708085896,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6802575859569742,-1.605942631526606,1.3326868730801353,-1.322309681405128,-1.5708960256550508,-0.1093790134084356,0.0],"actuator_force":[1.2795360833952145,-19.520788959883248,-20.350148861959497,-2.4064776935274494,0.0693924889515074,0.17346974439924168,-0.29324599662954615],"issued_joint_targets_rad":[-1.6838661804108483,-1.596654476622492,1.3431958822589765,-1.3173256222069523,-1.5708981680626173,-0.11298282778731182],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.140000000000051,"joint_targets_rad":[-1.6838661804108483,-1.596654476622492,1.3431958822589765,-1.3173256222069523,-1.5708981680626173,-0.11298282778731182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.160000000000058,"qpos":[-1.6496435395015734,-1.59082536976911,1.3388827566168016,-1.3190216447095666,-1.5708654856127517,-0.07880186086260497,0.0029333386230700324,0.0001565139167283319,0.0031940118462275204,-0.0034282758942401595,0.0029333888951595228,0.0001560409326486203,0.003196029165933596,-0.0034386567114980007,-0.1344419483422025,0.4789461432144415,0.2998922445797836,1.0,4.347318750187883e-15,-6.360055924586468e-14,-1.937540088206431e-08],"qvel":[-0.17428978257478137,-0.029234197319216497,0.021546184508822723,0.008427461187361783,-0.0008495584120368764,-0.17264017493650713,-1.1244707600861747e-05,2.45866373245971e-05,0.00016604964910820724,0.00018753125446621468,-7.027689948573711e-06,-3.20374165687141e-05,-0.00019732893621228292,-0.0001465755626558648,9.288430723746106e-14,6.345720717318149e-15,6.551170567647023e-15,-5.491241321130528e-14,7.927831338176227e-13,-3.955509519411614e-08],"joint_position_rad":[-1.6496435395015734,-1.59082536976911,1.3388827566168016,-1.3190216447095666,-1.5708654856127517,-0.07880186086260497],"joint_velocity_rad_s":[-0.17428978257478137,-0.029234197319216497,0.021546184508822723,0.008427461187361783,-0.0008495584120368764,-0.17264017493650713],"linkage_position_rad":[0.0029333386230700324,0.0001565139167283319,0.0031940118462275204,-0.0034282758942401595,0.0029333888951595228,0.0001560409326486203,0.003196029165933596,-0.0034386567114980007],"tcp_position_m":[-0.09645521248403807,0.48024512239906847,0.4298515527303312],"tcp_quaternion_wxyz":[-2.821228895517966e-05,0.7071228144405655,0.707090741738079,8.6313458127532e-05],"object_position_m":[-0.1344419483422025,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.347318750187883e-15,-6.360055924586468e-14,-1.937540088206431e-08],"object_linear_velocity_m_s":[9.288430723746106e-14,6.345720717318149e-15,6.551170567647023e-15],"object_angular_velocity_rad_s":[-5.4912377458870844e-14,7.927831362894396e-13,-3.955509519411616e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313522152634589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6838615347831585,-1.6064220762414438,1.333018168196597,-1.3221482445698138,-1.57089675195619,-0.11298282969081774,0.0],"actuator_force":[1.2799224667419367,-19.499734016981165,-20.347650643938323,-2.406046048859821,0.06932266948467714,0.1735330795443275,-0.2932450139237306],"issued_joint_targets_rad":[-1.6874697741790274,-1.5971327707979153,1.3435120985131808,-1.3171641471521653,-1.570898770831639,-0.1165863940839047],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.160000000000058,"joint_targets_rad":[-1.6874697741790274,-1.5971327707979153,1.3435120985131808,-1.3171641471521653,-1.570898770831639,-0.1165863940839047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1800000000000646,"qpos":[-1.6532399822984838,-1.591429899025868,1.339324256694531,-1.3188438988823197,-1.5708689859818379,-0.08239439624651354,0.00293337544807615,0.0001565130426412579,0.0031940527385115733,-0.003428308956934495,0.0029334258756337794,0.00015604170597330105,0.003196077196525849,-0.0034386875250498245,-0.13444194834220083,0.4789461432144415,0.2998922445797836,1.0,3.687157784070182e-15,-5.393511228058175e-14,-1.974016860144472e-08],"qvel":[-0.17432699806002794,-0.028588170545365506,0.020915347364308425,0.008342134719036748,-0.0008346130373866602,-0.17269589066328628,-1.1730451642919266e-05,2.4515669741828072e-05,0.00016597961634264274,0.00018816100158568658,-7.476040533160643e-06,-3.1929953743536816e-05,-0.00019670950255572066,-0.0001458187757127666,9.880982313564243e-14,6.7622959494721205e-15,6.553946125208585e-15,6.770344944410203e-14,-9.737852766146934e-13,-7.22176149184076e-08],"joint_position_rad":[-1.6532399822984838,-1.591429899025868,1.339324256694531,-1.3188438988823197,-1.5708689859818379,-0.08239439624651354],"joint_velocity_rad_s":[-0.17432699806002794,-0.028588170545365506,0.020915347364308425,0.008342134719036748,-0.0008346130373866602,-0.17269589066328628],"linkage_position_rad":[0.00293337544807615,0.0001565130426412579,0.0031940527385115733,-0.003428308956934495,0.0029334258756337794,0.00015604170597330105,0.003196077196525849,-0.0034386875250498245],"tcp_position_m":[-0.09474930176408451,0.4803132047552663,0.4299067458450293],"tcp_quaternion_wxyz":[-2.1809496590086933e-05,0.7071241961757541,0.7070893606852594,8.19319822880408e-05],"object_position_m":[-0.13444194834220083,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.687157784070182e-15,-5.393511228058175e-14,-1.974016860144472e-08],"object_linear_velocity_m_s":[9.880982313564243e-14,6.7622959494721205e-15,6.553946125208585e-15],"object_angular_velocity_rad_s":[6.770341878886127e-14,-9.737852787550927e-13,-7.221761491840763e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313521672296232,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6874652307224582,-1.6068871847020316,1.3333347566655631,-1.3219867241320795,-1.570897402036589,-0.1165863960116993,0.0],"actuator_force":[1.2803023760620817,-19.47930313418101,-20.345139003658915,-2.4056260967835215,0.06925327636315615,0.17358918373574284,-0.2932440337246161],"issued_joint_targets_rad":[-1.6910730157333334,-1.5975964281884534,1.3438136169759742,-1.3170026090688807,-1.5708993050541127,-0.12018961166520614],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.1800000000000646,"joint_targets_rad":[-1.6910730157333334,-1.5975964281884534,1.3438136169759742,-1.3170026090688807,-1.5708993050541127,-0.12018961166520614],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.200000000000071,"qpos":[-1.6568370853502454,-1.5920210037854028,1.3397524010946114,-1.3186677092040928,-1.5708722057335607,-0.08598796036955826,0.002933405310584046,0.00015651214916970573,0.0031940867318009866,-0.0034283353999665436,0.0029334558994471094,0.0001560425166671361,0.003196118505823221,-0.003438711699029847,-0.1344419483421995,0.4789461432144415,0.2998922445797836,1.0,2.8745414921960473e-15,-4.2005480939534167e-14,-2.001410721705591e-08],"qvel":[-0.1743591364464455,-0.027935945996038904,0.020277765085777215,0.008264983562005309,-0.00082072742123571,-0.17274464912686024,-1.21464970802575e-05,2.4443208915116014e-05,0.00016597295148395756,0.00018872271199037757,-7.854436260235725e-06,-3.182103393480312e-05,-0.00019601618493229414,-0.00014512735356905123,5.2399925560645664e-14,3.585058223513667e-15,6.552558346427802e-15,-1.3564712406949066e-13,1.9839654567538666e-12,-7.82418717426245e-09],"joint_position_rad":[-1.6568370853502454,-1.5920210037854028,1.3397524010946114,-1.3186677092040928,-1.5708722057335607,-0.08598796036955826],"joint_velocity_rad_s":[-0.1743591364464455,-0.027935945996038904,0.020277765085777215,0.008264983562005309,-0.00082072742123571,-0.17274464912686024],"linkage_position_rad":[0.002933405310584046,0.00015651214916970573,0.0031940867318009866,-0.0034283353999665436,0.0029334558994471094,0.0001560425166671361,0.003196118505823221,-0.003438711699029847],"tcp_position_m":[-0.09304338012895284,0.4803813614439745,0.42996202491555335],"tcp_quaternion_wxyz":[-1.602468133322546e-05,0.7071254475544034,0.7070881098439029,7.79844212212013e-05],"object_position_m":[-0.1344419483421995,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.8745414921960473e-15,-4.2005480939534167e-14,-2.001410721705591e-08],"object_linear_velocity_m_s":[5.2399925560645664e-14,3.585058223513667e-15,6.552558346427802e-15],"object_angular_velocity_rad_s":[-1.3564704399757837e-13,1.98396546222856e-12,-7.824187174262453e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313521253316799,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6910685750711762,-1.6073379408682584,1.3336366464657652,-1.321825145728909,-1.5708979827998328,-0.1201896136150495,0.0],"actuator_force":[1.2806751367165816,-19.459495767295266,-20.342615292003302,-2.4052166186086197,0.0691842089875081,0.1736382899404063,-0.29324305583485527],"issued_joint_targets_rad":[-1.6946758066279775,-1.5980454306682457,1.3441004447684997,-1.3168410330254714,-1.5708997769212778,-0.1237923819724139],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.200000000000071,"joint_targets_rad":[-1.6946758066279775,-1.5980454306682457,1.3441004447684997,-1.3168410330254714,-1.5708997769212778,-0.1237923819724139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.220000000000078,"qpos":[-1.6604347439955462,-1.592598564743693,1.340167062389106,-1.3184929228551132,-1.5708751657464244,-0.0895824131172375,0.002933429468106634,0.0001565112366568451,0.0031941150706443163,-0.003428356418934276,0.002933480223732622,0.00015604336204311673,0.003196154329479781,-0.0034387304295960615,-0.13444194834219808,0.4789461432144415,0.2998922445797836,1.0,2.787230877645045e-15,-4.062882347101711e-14,-2.051424995104528e-08],"qvel":[-0.17438622696932377,-0.027278042527951626,0.019634114284075122,0.008195109784585106,-0.0008078274635328107,-0.172786660222354,-1.2505441350428397e-05,2.436924452433309e-05,0.0001660171113822634,0.0001892283616092151,-8.175462329294136e-06,-3.171063325392678e-05,-0.0001952613772332803,-0.00014448931477482492,5.099153089808633e-14,3.4963811542108847e-15,6.5525583464278016e-15,-1.0726519553744198e-13,1.570331773506496e-12,-1.4284989926864333e-08],"joint_position_rad":[-1.6604347439955462,-1.592598564743693,1.340167062389106,-1.3184929228551132,-1.5708751657464244,-0.0895824131172375],"joint_velocity_rad_s":[-0.17438622696932377,-0.027278042527951626,0.019634114284075122,0.008195109784585106,-0.0008078274635328107,-0.172786660222354],"linkage_position_rad":[0.002933429468106634,0.0001565112366568451,0.0031941150706443163,-0.003428356418934276,0.002933480223732622,0.00015604336204311673,0.003196154329479781,-0.0034387304295960615],"tcp_position_m":[-0.09133744727959944,0.4804495931199109,0.4300173897599888],"tcp_quaternion_wxyz":[-1.0798539750345773e-05,0.707126581128316,0.7070869766906912,7.442840558841335e-05],"object_position_m":[-0.13444194834219808,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.787230877645045e-15,-4.062882347101711e-14,-2.051424995104528e-08],"object_linear_velocity_m_s":[5.099153089808633e-14,3.4963811542108847e-15,6.5525583464278016e-15],"object_angular_velocity_rad_s":[-1.0726512994832025e-13,1.5703317779870565e-12,-1.428498992686434e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313520884443299,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.69467146931676,-1.6077743289887862,1.333923844880523,-1.3216635339349565,-1.5708985004929918,-0.12379238394228217,0.0],"actuator_force":[1.2810401453025406,-19.440311479005686,-20.340080730795762,-2.404816518380244,0.06911537306950777,0.17368060971305965,-0.29324208007356417],"issued_joint_targets_rad":[-1.698278048589,-1.5984797605970555,1.3443725883615953,-1.3166794430013666,-1.570900192033647,-0.12739460663017563],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.220000000000078,"joint_targets_rad":[-1.698278048589,-1.5984797605970555,1.3443725883615953,-1.3166794430013666,-1.570900192033647,-0.12739460663017563],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.240000000000085,"qpos":[-1.6640328541389557,-1.5931624724668807,1.3405681259369453,-1.318319403957283,-1.5708778854376333,-0.09317761837337457,0.0029334489511571526,0.00015651030547301952,0.003194138774348997,-0.003428372993751532,0.0029334998786607904,0.00015604423972810703,0.003196185678753794,-0.003438744697185994,-0.13444194834219683,0.4789461432144415,0.2998922445797836,1.0,2.5386314992739613e-15,-3.693546008543142e-14,-2.0958615663376106e-08],"qvel":[-0.17440829708307554,-0.02661493088866988,0.018985003988736506,0.008131706477471272,-0.0007958434578875269,-0.1728221145761642,-1.2817609964453075e-05,2.4293767347919197e-05,0.000166101818106838,0.0001896877693189934,-8.449433316438471e-06,-3.1598731411456315e-05,-0.00019445522744759172,-0.00014389483631788662,4.9250825331177517e-14,3.3837314621727308e-15,6.552558346427802e-15,-6.550417930743267e-14,9.558087765512424e-13,-2.6080784197204366e-08],"joint_position_rad":[-1.6640328541389557,-1.5931624724668807,1.3405681259369453,-1.318319403957283,-1.5708778854376333,-0.09317761837337457],"joint_velocity_rad_s":[-0.17440829708307554,-0.02661493088866988,0.018985003988736506,0.008131706477471272,-0.0007958434578875269,-0.1728221145761642],"linkage_position_rad":[0.0029334489511571526,0.00015651030547301952,0.003194138774348997,-0.003428372993751532,0.0029334998786607904,0.00015604423972810703,0.003196185678753794,-0.003438744697185994],"tcp_position_m":[-0.08963150290152852,0.4805179004179552,0.4300728402857331],"tcp_quaternion_wxyz":[-6.077460420158822e-06,0.7071276082323378,0.7070859499138548,7.122568630333996e-05],"object_position_m":[-0.13444194834219683,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.5386314992739613e-15,-3.693546008543142e-14,-2.0958615663376106e-08],"object_linear_velocity_m_s":[4.9250825331177517e-14,3.3837314621727308e-15,6.552558346427802e-15],"object_angular_velocity_rad_s":[-6.550413731596354e-14,9.558087794294147e-13,-2.608078419720438e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313520556470503,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.6982738151245826,-1.608196333607906,1.3341963585222179,-1.3215019122837481,-1.57089896076843,-0.12739460861824026,0.0],"actuator_force":[1.2813968619766456,-19.42174992658238,-20.337536424949576,-2.4044248109797763,0.06904668039032913,0.17371633518357754,-0.2932411062744927],"issued_joint_targets_rad":[-1.701879643504137,-1.5988994008094348,1.344630053595206,-1.3165178619103357,-1.5709005554568711,-0.13099618743518238],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.240000000000085,"joint_targets_rad":[-1.701879643504137,-1.5988994008094348,1.344630053595206,-1.3165178619103357,-1.5709005554568711,-0.13099618743518238],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.260000000000091,"qpos":[-1.667631312216706,-1.5937126264784751,1.3409554886026145,-1.318147031848985,-1.5708803828515958,-0.09677344365351045,0.0029334646042199174,0.00015650935600334794,0.003194158677697796,-0.0034283859275640203,0.002933515708406513,0.00015604514762149524,0.003196213381137436,-0.003438755305431324,-0.1344419483421958,0.4789461432144415,0.2998922445797836,1.0,2.2705640843244026e-15,-3.2947283618074196e-14,-2.1385018488172608e-08],"qvel":[-0.17442537256167412,-0.025947038340528254,0.018330982189925366,0.008074048926989274,-0.0007847099269166218,-0.17285118534006194,-1.3091466378694155e-05,2.421676930923395e-05,0.00016621865088078277,0.00019010898598694582,-8.684802934208132e-06,-3.1485311191178906e-05,-0.00019360604387930097,-0.00014333586565300752,4.997943716234332e-14,3.4464547975203985e-15,6.548395010085459e-15,-1.220129360438929e-14,1.8625636062809575e-13,-4.761692572583128e-08],"joint_position_rad":[-1.667631312216706,-1.5937126264784751,1.3409554886026145,-1.318147031848985,-1.5708803828515958,-0.09677344365351045],"joint_velocity_rad_s":[-0.17442537256167412,-0.025947038340528254,0.018330982189925366,0.008074048926989274,-0.0007847099269166218,-0.17285118534006194],"linkage_position_rad":[0.0029334646042199174,0.00015650935600334794,0.003194158677697796,-0.0034283859275640203,0.002933515708406513,0.00015604514762149524,0.003196213381137436,-0.003438755305431324],"tcp_position_m":[-0.08792554666660138,0.4805862839553437,0.43012837648368724],"tcp_quaternion_wxyz":[-1.8129778534219807e-06,0.7071285391025164,0.7070850192960252,6.834173431456585e-05],"object_position_m":[-0.1344419483421958,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.2705640843244026e-15,-3.2947283618074196e-14,-2.1385018488172608e-08],"object_linear_velocity_m_s":[4.997943716234332e-14,3.4464547975203985e-15,6.548395010085459e-15],"object_angular_velocity_rad_s":[-1.2201282500501135e-14,1.8625636136617994e-13,-4.76169257258313e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313520261869748,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.701875514327228,-1.6086039395719804,1.3344541933538896,-1.321340303286341,-1.5708993687398842,-0.13099618943979136,0.0],"actuator_force":[1.2817448036257701,-19.403810850799346,-20.334983373419618,-2.404040611377013,0.06897804854747847,0.1737456408657465,-0.29324013428475704],"issued_joint_targets_rad":[-1.705480493414929,-1.5993043346051388,1.3448728456953993,-1.3163563116210402,-1.570900871772391,-0.1345970263471451],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.260000000000091,"joint_targets_rad":[-1.705480493414929,-1.5993043346051388,1.3448728456953993,-1.3163563116210402,-1.570900871772391,-0.1345970263471451],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.280000000000098,"qpos":[-1.6712300151645256,-1.5942489344343047,1.3413290575988326,-1.317975699527137,-1.5708826747448292,-0.1003697597725398,0.002933477119327466,0.0001565083886383989,0.003194175464311755,-0.0034283958786384184,0.002933528404722993,0.0001560460838605905,0.003196238113643141,-0.0034387629130561664,-0.13444194834219503,0.4789461432144415,0.2998922445797836,1.0,1.8423811272465086e-15,-2.6589293222642262e-14,-2.170328932551444e-08],"qvel":[-0.17443747760219008,-0.025274752841107542,0.017672541744680546,0.008021486646468415,-0.0007743654494058473,-0.1728740298243701,-1.3333947960553356e-05,2.4138243438349467e-05,0.00016636071129142788,0.00019049861413139672,-8.888499896767517e-06,-3.1370358227539306e-05,-0.00019272062879223222,-0.00014280580075356605,5.469319132417232e-14,3.833237739712012e-15,6.555333903989366e-15,6.175606577431653e-14,-8.254845202080871e-13,-8.693648160388963e-08],"joint_position_rad":[-1.6712300151645256,-1.5942489344343047,1.3413290575988326,-1.317975699527137,-1.5708826747448292,-0.1003697597725398],"joint_velocity_rad_s":[-0.17443747760219008,-0.025274752841107542,0.017672541744680546,0.008021486646468415,-0.0007743654494058473,-0.1728740298243701],"linkage_position_rad":[0.002933477119327466,0.0001565083886383989,0.003194175464311755,-0.0034283958786384184,0.002933528404722993,0.0001560460838605905,0.003196238113643141,-0.0034387629130561664],"tcp_position_m":[-0.08621957823468498,0.4806547443336942,0.4301839984230787],"tcp_quaternion_wxyz":[2.0387211928931537e-06,0.7071293829827593,0.7070841756083995,6.574537923470385e-05],"object_position_m":[-0.13444194834219503,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.8423811272465086e-15,-2.6589293222642262e-14,-2.170328932551444e-08],"object_linear_velocity_m_s":[5.469319132417232e-14,3.833237739712012e-15,6.555333903989366e-15],"object_angular_velocity_rad_s":[6.175603456601696e-14,-8.254845225683661e-13,-8.693648160388967e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519994484792,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7054764689160737,-1.6089971320354854,1.334697354708228,-1.3211787284476975,-1.57089972903332,-0.13459702836680595,0.0],"actuator_force":[1.2820835377797266,-19.38649406591867,-20.332422479081288,-2.4036631249271068,0.06890940069524731,0.17376868530394063,-0.29323916396323635],"issued_joint_targets_rad":[-1.709080500510871,-1.599694545740603,1.3451009692891418,-1.316194812975065,-1.5709011451233583,-0.13819702548194257],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.280000000000098,"joint_targets_rad":[-1.709080500510871,-1.599694545740603,1.3451009692891418,-1.316194812975065,-1.5709011451233583,-0.13819702548194257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.300000000000105,"qpos":[-1.6748288603875743,-1.5947713113768036,1.3416887494411607,-1.3178053122402338,-1.5708847766671488,-0.10396644054351813,0.0029334870635775957,0.00015650740376673303,0.003194189693983892,-0.0034284033865014563,0.0029335385344558145,0.00015604704679029454,0.0031962604300695622,-0.0034387680600127105,-0.13444194834219433,0.4789461432144415,0.2998922445797836,1.0,1.5264973979173492e-15,-2.1810205527323395e-14,-2.2033060108495615e-08],"qvel":[-0.17444463492992826,-0.024598426822463847,0.017010125708928302,0.00797343618253145,-0.0007647524823804438,-0.17289079098466362,-1.3550741311956916e-05,2.405818390906936e-05,0.00016652234900725138,0.00019086206761951977,-9.066203143979056e-06,-3.125386061098687e-05,-0.0001918045511830665,-0.00014229922880807977,2.7298848201260704e-14,1.9062721596464003e-15,6.551170567647021e-15,-6.79586327384827e-14,9.81644811802239e-13,-9.418855844379597e-09],"joint_position_rad":[-1.6748288603875743,-1.5947713113768036,1.3416887494411607,-1.3178053122402338,-1.5708847766671488,-0.10396644054351813],"joint_velocity_rad_s":[-0.17444463492992826,-0.024598426822463847,0.017010125708928302,0.00797343618253145,-0.0007647524823804438,-0.17289079098466362],"linkage_position_rad":[0.0029334870635775957,0.00015650740376673303,0.003194189693983892,-0.0034284033865014563,0.0029335385344558145,0.00015604704679029454,0.0031962604300695622,-0.0034387680600127105],"tcp_position_m":[-0.08451359725515399,0.4807232821408749,0.43023970624686],"tcp_quaternion_wxyz":[5.517244028682369e-06,0.7071301482211193,0.7070834105151255,6.340848305889707e-05],"object_position_m":[-0.13444194834219433,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.5264973979173492e-15,-2.1810205527323395e-14,-2.2033060108495615e-08],"object_linear_velocity_m_s":[2.7298848201260704e-14,1.9062721596464003e-15,6.551170567647021e-15],"object_angular_velocity_rad_s":[-6.795858907035003e-14,9.816448148256676e-13,-9.418855844379602e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519749282816,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7090765810349642,-1.609375896466615,1.3349258473041339,-1.3210172082809406,-1.570900045833057,-0.13819702751530696,0.0],"actuator_force":[1.2824126771911324,-19.369799450636947,-20.329854557625367,-2.403291638606561,0.06884066528391486,0.17378561257194747,-0.29323819517939087],"issued_joint_targets_rad":[-1.7126795671254142,-1.600070018421374,1.3453144284170473,-1.3160333858026834,-1.5709013792562574,-0.14179608710673566],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.300000000000105,"joint_targets_rad":[-1.7126795671254142,-1.600070018421374,1.3453144284170473,-1.3160333858026834,-1.5709013792562574,-0.14179608710673566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.320000000000111,"qpos":[-1.6784277457324936,-1.5952796790610027,1.3420344890036633,-1.3176357862176984,-1.5708867030390843,-0.1075633625048447,0.0029334949016846176,0.00015650640177020095,0.0031942018250792356,-0.003428408893361523,0.002933546562091494,0.00015604803493712938,0.0031962807833381393,-0.0034387711889094503,-0.13444194834219364,0.4789461432144415,0.2998922445797836,1.0,1.458152171769408e-15,-2.0618746997615497e-14,-2.250856131961814e-08],"qvel":[-0.17444686590398514,-0.023918380607603814,0.016344132151050784,0.00792937462095751,-0.0007558171804892612,-0.17290159877507774,-1.3746507894955805e-05,2.397658601323153e-05,0.00016669893727767348,0.00019120378789498995,-9.222567386530636e-06,-3.113580868414605e-05,-0.00019086237036749996,-0.00014181171194612888,2.6254612665593057e-14,1.8534844110799004e-15,6.553946125208584e-15,-5.0337502182570514e-14,7.233968681926194e-13,-1.719645221448307e-08],"joint_position_rad":[-1.6784277457324936,-1.5952796790610027,1.3420344890036633,-1.3176357862176984,-1.5708867030390843,-0.1075633625048447],"joint_velocity_rad_s":[-0.17444686590398514,-0.023918380607603814,0.016344132151050784,0.00792937462095751,-0.0007558171804892612,-0.17290159877507774],"linkage_position_rad":[0.0029334949016846176,0.00015650640177020095,0.0031942018250792356,-0.003428408893361523,0.002933546562091494,0.00015604803493712938,0.0031962807833381393,-0.0034387711889094503],"tcp_position_m":[-0.08280760336826049,0.48079189795274174,0.43029550016762985],"tcp_quaternion_wxyz":[8.658395524463185e-06,0.7071308423567167,0.7070827164869252,6.130564556027654e-05],"object_position_m":[-0.13444194834219364,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.458152171769408e-15,-2.0618746997615497e-14,-2.250856131961814e-08],"object_linear_velocity_m_s":[2.6254612665593057e-14,1.8534844110799004e-15,6.553946125208584e-15],"object_angular_velocity_rad_s":[-5.033746890818636e-14,7.233968705088186e-13,-1.7196452214483078e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351952215037,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7126757529757821,-1.6097402186524885,1.335139675261078,-1.320855762319705,-1.5709003229235845,-0.14179608915258554,0.0],"actuator_force":[1.282731875016907,-19.353726939929857,-20.32728034559068,-2.4029255130991487,0.06877177579883664,0.17379655363734514,-0.29323722781239814],"issued_joint_targets_rad":[-1.7162775957336627,-1.6004307372953306,1.345513226544228,-1.3158720489365314,-1.5709015775586195,-0.1453941136368701],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.320000000000111,"joint_targets_rad":[-1.7162775957336627,-1.6004307372953306,1.345513226544228,-1.3158720489365314,-1.5709015775586195,-0.1453941136368701],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.340000000000118,"qpos":[-1.6820265694615706,-1.595773965345354,1.3423662086657833,-1.317467047522273,-1.5708884672255117,-0.11116040467327384,0.0029335010144604496,0.000156505383019978,0.003194212232883887,-0.0034284127616639984,0.002933552868236176,0.00015604904698686853,0.0031962995437874097,-0.0034387726625671783,-0.13444194834219303,0.4789461432144415,0.2998922445797836,1.0,1.3602719677917126e-15,-1.9232170110787456e-14,-2.2980881436911814e-08],"qvel":[-0.17444419062221772,-0.02323490549869051,0.015674918497118186,0.007888833724234084,-0.0007475092147875797,-0.17290657138019083,-1.3925069036087854e-05,2.3893446095180086e-05,0.00016688668823954927,0.00019152741780403796,-9.361408031945622e-06,-3.101619482300265e-05,-0.00018989781890154872,-0.00014133961108258675,2.6123178710624182e-14,1.8452571580534298e-15,6.551170567647021e-15,-2.855353017423781e-14,3.9947205428651394e-13,-3.139637909863431e-08],"joint_position_rad":[-1.6820265694615706,-1.595773965345354,1.3423662086657833,-1.317467047522273,-1.5708884672255117,-0.11116040467327384],"joint_velocity_rad_s":[-0.17444419062221772,-0.02323490549869051,0.015674918497118186,0.007888833724234084,-0.0007475092147875797,-0.17290657138019083],"linkage_position_rad":[0.0029335010144604496,0.000156505383019978,0.003194212232883887,-0.0034284127616639984,0.002933552868236176,0.00015604904698686853,0.0031962995437874097,-0.0034387726625671783],"tcp_position_m":[-0.08110159620638781,0.4808605923347489,0.4303513804640454],"tcp_quaternion_wxyz":[1.1494542888602678e-05,0.7071314721982106,0.7070820867230693,5.941393829497825e-05],"object_position_m":[-0.13444194834219303,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3602719677917126e-15,-1.9232170110787456e-14,-2.2980881436911814e-08],"object_linear_velocity_m_s":[2.6123178710624182e-14,1.8452571580534298e-15,6.551170567647021e-15],"object_angular_velocity_rad_s":[-2.855351060615695e-14,3.994720556842995e-13,-3.1396379098634324e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519309726359,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.716273887175753,-1.610090084703928,1.335338842111408,-1.3206944091287287,-1.5709005637274658,-0.1453941156941051,0.0],"actuator_force":[1.2830408205218191,-19.338276517672057,-20.324700507597754,-2.402564175651264,0.06870267050169332,0.17380162760345286,-0.29323626174949113],"issued_joint_targets_rad":[-1.7198744889515991,-1.600776687446609,1.345697366569402,-1.3157108202233865,-1.570901743093195,-0.14899100763439713],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.340000000000118,"joint_targets_rad":[-1.7198744889515991,-1.600776687446609,1.345697366569402,-1.3157108202233865,-1.570901743093195,-0.14899100763439713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.360000000000125,"qpos":[-1.6856252302289947,-1.5962541036411475,1.3426838475415606,-1.3172990310134913,-1.5708900816055154,-0.1147574483204372,0.0029335057139605004,0.00015650434787455356,0.00319422122464276,-0.0034284152884804906,0.0029335577647593247,0.000156050081765102,0.0031963170141575768,-0.003438772778415332,-0.13444194834219247,0.4789461432144415,0.2998922445797836,1.0,1.165592759836039e-15,-1.6510779357618885e-14,-2.3369918386979433e-08],"qvel":[-0.17443662802479465,-0.022548266568444206,0.015002805453224839,0.007851394639411874,-0.0007397815926355184,-0.1729058163363262,-1.4089557397784662e-05,2.3808761643083363e-05,0.00016708250273812976,0.00019183594801551224,-9.485852587199154e-06,-3.089501322751886e-05,-0.00018891395325077614,-0.00014087994207080573,2.6955549210983493e-14,1.896778199282872e-15,6.545619452523895e-15,2.6856682578145713e-15,-4.508480742665334e-14,-5.732185966084872e-08],"joint_position_rad":[-1.6856252302289947,-1.5962541036411475,1.3426838475415606,-1.3172990310134913,-1.5708900816055154,-0.1147574483204372],"joint_velocity_rad_s":[-0.17443662802479465,-0.022548266568444206,0.015002805453224839,0.007851394639411874,-0.0007397815926355184,-0.1729058163363262],"linkage_position_rad":[0.0029335057139605004,0.00015650434787455356,0.00319422122464276,-0.0034284152884804906,0.0029335577647593247,0.000156050081765102,0.0031963170141575768,-0.003438772778415332],"tcp_position_m":[-0.07939557539519805,0.48092936584345375,0.4304073474776735],"tcp_quaternion_wxyz":[1.405494544590654e-05,0.7071320438946479,0.7070815150808877,5.771266443606246e-05],"object_position_m":[-0.13444194834219247,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.165592759836039e-15,-1.6510779357618885e-14,-2.3369918386979433e-08],"object_linear_velocity_m_s":[2.6955549210983493e-14,1.896778199282872e-15,6.545619452523895e-15],"object_angular_velocity_rad_s":[2.685668043415187e-15,-4.5084807418553164e-14,-5.7321859660848746e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519109265227,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.71987088621632,-1.6104254810598277,1.33552335081077,-1.320533166312846,-1.5709007713396914,-0.1489910097020232,0.0],"actuator_force":[1.2833392352677038,-19.323448209982416,-20.322115642871267,-2.4022071136184877,0.06863329217560477,0.17380094283961967,-0.2932352968860663],"issued_joint_targets_rad":[-1.7234701495367075,-1.6011078543901107,1.3458668508323797,-1.315549716534202,-1.5709018786289093,-0.1525866718080699],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.360000000000125,"joint_targets_rad":[-1.7234701495367075,-1.6011078543901107,1.3458668508323797,-1.315549716534202,-1.5709018786289093,-0.1525866718080699],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.380000000000131,"qpos":[-1.6892236270591752,-1.5967200324148842,1.34298735078317,-1.3171316794114127,-1.5708915576385412,-0.11835437677076667,0.002933509255895662,0.00015650329667774634,0.003194229051875427,-0.003428416717304309,0.002933561507203734,0.0001560511382200134,0.0031963334418629455,-0.0034387717802795946,-0.13444194834219192,0.4789461432144415,0.2998922445797836,1.0,9.470991029024466e-16,-1.3344614885490171e-14,-2.36915839818401e-08],"qvel":[-0.17442419599564316,-0.021858705183054276,0.014328080545857937,0.007816683120938058,-0.0007325904801141397,-0.1728994315522146,-1.424254131907785e-05,2.3722531083038445e-05,0.00016728384556782147,0.00019213183201822537,-9.598464932435703e-06,-3.077225976160564e-05,-0.00018791327604778416,-0.00014043025812986268,3.0348031606679114e-14,2.19673990038009e-15,6.5692116917971796e-15,4.8614658231960657e-14,-6.19330611982229e-13,-1.0465524016836439e-07],"joint_position_rad":[-1.6892236270591752,-1.5967200324148842,1.34298735078317,-1.3171316794114127,-1.5708915576385412,-0.11835437677076667],"joint_velocity_rad_s":[-0.17442419599564316,-0.021858705183054276,0.014328080545857937,0.007816683120938058,-0.0007325904801141397,-0.1728994315522146],"linkage_position_rad":[0.002933509255895662,0.00015650329667774634,0.003194229051875427,-0.003428416717304309,0.002933561507203734,0.0001560511382200134,0.0031963334418629455,-0.0034387717802795946],"tcp_position_m":[-0.07768954055468276,0.48099821902792494,0.4304634016102509],"tcp_quaternion_wxyz":[1.6366052779857754e-05,0.7071325629994292,0.707080996012101,5.618314193234127e-05],"object_position_m":[-0.13444194834219192,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.470991029024466e-16,-1.3344614885490171e-14,-2.36915839818401e-08],"object_linear_velocity_m_s":[3.0348031606679114e-14,2.19673990038009e-15,6.5692116917971796e-15],"object_angular_velocity_rad_s":[4.861463167928198e-14,-6.193306140875074e-13,-1.0465524016836445e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518918524968,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7234666528234452,-1.6107463944911122,1.3356932037467828,-1.3203720505245042,-1.5709009485588095,-0.15258667388518912,0.0],"actuator_force":[1.2836268697174091,-19.30924207923408,-20.31952629111811,-2.4018538686394777,0.06856358787729278,0.17379459801023245,-0.2932343331237123],"issued_joint_targets_rad":[-1.7270644803898525,-1.6014242240665097,1.3460216811200338,-1.3153887537725517,-1.5709019866688976,-0.15618100901466508],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.380000000000131,"joint_targets_rad":[-1.7270644803898525,-1.6014242240665097,1.3460216811200338,-1.3153887537725517,-1.5709019866688976,-0.15618100901466508],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.400000000000138,"qpos":[-1.6928216593270586,-1.5971716947385166,1.3432766689515394,-1.3169649424508711,-1.5708929059269088,-0.1219510752188953,0.0029335118498045147,0.00015650222975806515,0.0031942359204692955,-0.003428417247707733,0.00293356430495598,0.00015605221540808804,0.0031963490290432186,-0.003438769868057027,-0.13444194834219136,0.4789461432144415,0.2998922445797836,1.0,8.395505703779983e-16,-1.160272463489559e-14,-2.4088566236662093e-08],"qvel":[-0.17440691146126153,-0.021166441282260837,0.013651001317276392,0.007784365218430257,-0.000725895028047404,-0.1728875062379667,-1.4386126545747357e-05,2.3634753863869568e-05,0.0001674886445886597,0.00019241708484519476,-9.701346991887467e-06,-3.0647931783603305e-05,-0.00018689783692828503,-0.00013998855206492217,1.449752740222517e-14,1.0445711953745045e-15,6.6288861793707835e-15,-3.5219095904845476e-14,4.948416523256938e-13,-1.133853823295766e-08],"joint_position_rad":[-1.6928216593270586,-1.5971716947385166,1.3432766689515394,-1.3169649424508711,-1.5708929059269088,-0.1219510752188953],"joint_velocity_rad_s":[-0.17440691146126153,-0.021166441282260837,0.013651001317276392,0.007784365218430257,-0.000725895028047404,-0.1728875062379667],"linkage_position_rad":[0.0029335118498045147,0.00015650222975806515,0.0031942359204692955,-0.003428417247707733,0.00293356430495598,0.00015605221540808804,0.0031963490290432186,-0.003438769868057027],"tcp_position_m":[-0.07598349130012962,0.4810671524310679,0.4305195433213247],"tcp_quaternion_wxyz":[1.8451774266720122e-05,0.7071330345280609,0.7070805245053036,5.480850773231754e-05],"object_position_m":[-0.13444194834219136,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,8.395505703779983e-16,-1.160272463489559e-14,-2.4088566236662093e-08],"object_linear_velocity_m_s":[1.449752740222517e-14,1.0445711953745045e-15,6.6288861793707835e-15],"object_angular_velocity_rad_s":[-3.5219071801677746e-14,4.948416540414871e-13,-1.1338538232957668e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518735675352,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7270610898692018,-1.611052812104283,1.335848402746081,-1.3202110774699354,-1.5709010979151277,-0.15618101110046628,0.0],"actuator_force":[1.2839035002180026,-19.295658218628432,-20.31693293782746,-2.4015040313751115,0.06849350869526916,0.17378268301116861,-0.2932333703703366],"issued_joint_targets_rad":[-1.7306573845582975,-1.6017257828376699,1.3461618586708692,-1.315227946881612,-1.5709020694758993,-0.15977392226149645],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.400000000000138,"joint_targets_rad":[-1.7306573845582975,-1.6017257828376699,1.3461618586708692,-1.315227946881612,-1.5709020694758993,-0.15977392226149645],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.420000000000145,"qpos":[-1.696419226740401,-1.59760903788294,1.3435517574475089,-1.3167987761174158,-1.5708941362747795,-0.12554743056478562,0.002933513667389373,0.00015650114742863386,0.0031942419989474833,-0.0034284170432742553,0.0029335663295808334,0.00015605331248098788,0.00319636394079404,-0.0034387672056338608,-0.13444194834219092,0.4789461432144415,0.2998922445797836,1.0,7.794820389530575e-16,-1.0609726268878327e-14,-2.4538971258624457e-08],"qvel":[-0.17438479048645245,-0.020471675439803223,0.012971798209334435,0.007754143384245136,-0.0007196572025921032,-0.17287012175052635,-1.4522039724914036e-05,2.3545430380941435e-05,0.00016769520768182742,0.00019269336199825306,-9.796222181278342e-06,-3.052202807644375e-05,-0.00018586931517485712,-0.00013955317784819914,1.3784845124429469e-14,1.011110921892994e-15,6.631661736932348e-15,-2.397869930808665e-14,3.346188740198052e-13,-2.070130747585368e-08],"joint_position_rad":[-1.696419226740401,-1.59760903788294,1.3435517574475089,-1.3167987761174158,-1.5708941362747795,-0.12554743056478562],"joint_velocity_rad_s":[-0.17438479048645245,-0.020471675439803223,0.012971798209334435,0.007754143384245136,-0.0007196572025921032,-0.17287012175052635],"linkage_position_rad":[0.002933513667389373,0.00015650114742863386,0.0031942419989474833,-0.0034284170432742553,0.0029335663295808334,0.00015605331248098788,0.00319636394079404,-0.0034387672056338608],"tcp_position_m":[-0.07427742724301414,0.4811361665908747,0.4305757731262393],"tcp_quaternion_wxyz":[2.0333722754524134e-05,0.7071334630103014,0.7070800960340162,5.357354102026265e-05],"object_position_m":[-0.13444194834219092,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.794820389530575e-16,-1.0609726268878327e-14,-2.4538971258624457e-08],"object_linear_velocity_m_s":[1.3784845124429469e-14,1.011110921892994e-15,6.631661736932348e-15],"object_angular_velocity_rad_s":[-2.3978682446410362e-14,3.346188752289028e-13,-2.0701307475853693e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518559222927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7306541003745288,-1.6113447213445637,1.335988949079854,-1.320050261914083,-1.5709012216962652,-0.15977392435524684,0.0],"actuator_force":[1.284168926325492,-19.282696747326554,-20.31433601904382,-2.401157236758081,0.06842300951620928,0.17376527982203527,-0.29323240853897936],"issued_joint_targets_rad":[-1.734248765239754,-1.6020125174823976,1.3462873841782501,-1.31506730984979,-1.5709021290952467,-0.16336531471001908],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.420000000000145,"joint_targets_rad":[-1.734248765239754,-1.6020125174823976,1.3462873841782501,-1.31506730984979,-1.5709021290952467,-0.16336531471001908],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.440000000000151,"qpos":[-1.700016229323922,-1.598032012950568,1.3438125759976158,-1.3166331419569948,-1.5708952577436888,-0.12914333126499222,0.0029335148493477674,0.00015650004998684703,0.0031942474252403415,-0.003428416238082263,0.0029335677216513222,0.00015605442867440777,0.00319637831190465,-0.003438763927383215,-0.13444194834219064,0.4789461432144415,0.2998922445797836,1.0,7.2451827873054965e-16,-9.629992634739977e-15,-2.497975560300177e-08],"qvel":[-0.17435784836666682,-0.019774590725238708,0.012290677165832093,0.007725752960134083,-0.0007138416210167221,-0.1728473523631402,-1.465169679977378e-05,2.3454561891457868e-05,0.00016790215391121786,0.0001929620231656924,-9.884503746212298e-06,-3.039454867463401e-05,-0.0001848290870545182,-0.00013912278520949266,1.3727517293727457e-14,1.032594766000624e-15,6.634437294493911e-15,-8.696705213608444e-15,1.3748406045782964e-13,-3.779535971967078e-08],"joint_position_rad":[-1.700016229323922,-1.598032012950568,1.3438125759976158,-1.3166331419569948,-1.5708952577436888,-0.12914333126499222],"joint_velocity_rad_s":[-0.17435784836666682,-0.019774590725238708,0.012290677165832093,0.007725752960134083,-0.0007138416210167221,-0.1728473523631402],"linkage_position_rad":[0.0029335148493477674,0.00015650004998684703,0.0031942474252403415,-0.003428416238082263,0.0029335677216513222,0.00015605442867440777,0.00319637831190465,-0.003438763927383215],"tcp_position_m":[-0.07257134799181732,0.481205262041612,0.4306320915944459],"tcp_quaternion_wxyz":[2.2031434864739504e-05,0.7071338525372474,0.7070797065097553,5.246450362731138e-05],"object_position_m":[-0.13444194834219064,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.2451827873054965e-16,-9.629992634739977e-15,-2.497975560300177e-08],"object_linear_velocity_m_s":[1.3727517293727457e-14,1.032594766000624e-15,6.634437294493911e-15],"object_angular_velocity_rad_s":[-8.696697617033907e-15,1.3748406094707953e-13,-3.7795359719670804e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518387949495,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7342455875130451,-1.611622109998636,1.336114843467949,-1.3198896176843757,-1.5709013219702936,-0.16336531681105668,0.0],"actuator_force":[1.2844229684205857,-19.270357806040465,-20.311735925666653,-2.4008131597039437,0.0683520487992837,0.17374246328178344,-0.2932314475472245],"issued_joint_targets_rad":[-1.7378385257873539,-1.6022844151924651,1.3463982577923936,-1.314906855715122,-1.5709021673756807,-0.1669550896804039],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.440000000000151,"joint_targets_rad":[-1.7378385257873539,-1.6022844151924651,1.3463982577923936,-1.314906855715122,-1.5709021673756807,-0.1669550896804039],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.460000000000158,"qpos":[-1.7036125674052738,-1.5984405745432184,1.3440590881891805,-1.316468006452198,-1.5708962787047622,-0.13273866719860594,0.002933515510971047,0.00015649893771528528,0.00319425231223428,-0.003428414942031744,0.002933568596345996,0.00015605556329826306,0.0031963922523778917,-0.0034387601434830986,-0.1344419483421905,0.4789461432144415,0.2998922445797836,1.0,6.222081035715971e-16,-8.01486793019017e-15,-2.5328295458626206e-08],"qvel":[-0.17432609971667068,-0.019075354386096005,0.011607821980698355,0.007698959006127336,-0.0007084153932584659,-0.17281926596556918,-1.4776259027703943e-05,2.3362150561836464e-05,0.00016810835856008276,0.0001932241875920402,-9.967350741977794e-06,-3.0265494779098788e-05,-0.00018377828082312018,-0.00013869626585943286,1.4473845334725745e-14,1.1531488464707493e-15,6.631661736932348e-15,1.299262759059778e-14,-1.1783024440619354e-13,-6.900478233112971e-08],"joint_position_rad":[-1.7036125674052738,-1.5984405745432184,1.3440590881891805,-1.316468006452198,-1.5708962787047622,-0.13273866719860594],"joint_velocity_rad_s":[-0.17432609971667068,-0.019075354386096005,0.011607821980698355,0.007698959006127336,-0.0007084153932584659,-0.17281926596556918],"linkage_position_rad":[0.002933515510971047,0.00015649893771528528,0.00319425231223428,-0.003428414942031744,0.002933568596345996,0.00015605556329826306,0.0031963922523778917,-0.0034387601434830986],"tcp_position_m":[-0.07086525315278637,0.4812744393149545,0.43068849934811215],"tcp_quaternion_wxyz":[2.356257015876036e-05,0.707134206803848,0.7070793522396479,5.1468995945283495e-05],"object_position_m":[-0.1344419483421905,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,6.222081035715971e-16,-8.01486793019017e-15,-2.5328295458626206e-08],"object_linear_velocity_m_s":[1.4473845334725745e-14,1.1531488464707493e-15,6.631661736932348e-15],"object_angular_velocity_rad_s":[1.299262272784772e-14,-1.1783024497848504e-13,-6.900478233112975e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518220861845,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.737835454615808,-1.6118849661969803,1.3362260860816584,-1.3197291576734484,-1.5709014006066944,-0.16695509178813064,0.0],"actuator_force":[1.2846654655995735,-19.258641553085454,-20.309133007323453,-2.4004715112379245,0.0682805883598121,0.17371430179457548,-0.29323048731700374],"issued_joint_targets_rad":[-1.74142656971545,-1.6025414635688315,1.3464944791211648,-1.314746596568511,-1.570902185988195,-0.17054315065697823],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.460000000000158,"joint_targets_rad":[-1.74142656971545,-1.6025414635688315,1.3464944791211648,-1.314746596568511,-1.570902185988195,-0.17054315065697823],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.480000000000165,"qpos":[-1.7072081416027407,-1.5988346804619058,1.3442912610498599,-1.3163033404585702,-1.5708972068877398,-0.1363333295465577,0.002933515746732261,0.000156497810882048,0.0031942567523169673,-0.003428413245199232,0.0029335690480356467,0.00015605671572800433,0.003196405851946249,-0.003438755944285946,-0.1344419483421905,0.4789461432144415,0.2998922445797836,1.0,4.922585488618278e-16,-6.155784294219316e-15,-2.5590047034937553e-08],"qvel":[-0.17428955855539044,-0.018374119367525595,0.010923396416479297,0.007673553438509278,-0.000703347969626838,-0.1727859247011994,-1.4896678959004185e-05,2.32681993666899e-05,0.00016831290663832783,0.00019348077636182425,-1.0045713968972673e-05,-3.0134868681459847e-05,-0.00018271782250753793,-0.0001382727109684605,7.701912810637942e-15,6.112642913444434e-16,6.635825073274693e-15,-2.283644794367209e-14,2.9464466146681154e-13,-7.476103073858729e-09],"joint_position_rad":[-1.7072081416027407,-1.5988346804619058,1.3442912610498599,-1.3163033404585702,-1.5708972068877398,-0.1363333295465577],"joint_velocity_rad_s":[-0.17428955855539044,-0.018374119367525595,0.010923396416479297,0.007673553438509278,-0.000703347969626838,-0.1727859247011994],"linkage_position_rad":[0.002933515746732261,0.000156497810882048,0.0031942567523169673,-0.003428413245199232,0.0029335690480356467,0.00015605671572800433,0.003196405851946249,-0.003438755944285946],"tcp_position_m":[-0.06915914233064067,0.4813436989410715,0.43074499706101493],"tcp_quaternion_wxyz":[2.494309119645996e-05,0.707134529147294,0.7070790298881463,5.0575826841270645e-05],"object_position_m":[-0.1344419483421905,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.922585488618278e-16,-6.155784294219316e-15,-2.5590047034937553e-08],"object_linear_velocity_m_s":[7.701912810637942e-15,6.112642913444434e-16,6.635825073274693e-15],"object_angular_velocity_rad_s":[-2.2836432771688027e-14,2.9464466264294327e-13,-7.476103073858734e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518057150542,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.74142360517692,-1.6121332784158098,1.3363226765452283,-1.3195688938408672,-1.5709014592953403,-0.1705431527708538,0.0],"actuator_force":[1.2848962737971306,-19.247548160798033,-20.306527575855398,-2.4001320349993875,0.06820859316246697,0.17368085797188826,-0.2932295277737555],"issued_joint_targets_rad":[-1.7450128007061654,-1.6027836506180142,1.34657604722975,-1.3145865435559059,-1.5709021864430903,-0.17412940129445567],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.480000000000165,"joint_targets_rad":[-1.7450128007061654,-1.6027836506180142,1.34657604722975,-1.3145865435559059,-1.5709021864430903,-0.17412940129445567],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.500000000000171,"qpos":[-1.7108028528146026,-1.5992142914354444,1.3445090646673246,-1.316139118695132,-1.570898049426954,-0.13992721068307792,0.0029335156340460087,0.00015649666974149919,0.003194260821097144,-0.0034284112214240763,0.002933569154042111,0.00015605788539706876,0.0031964191837694747,-0.0034387514038877872,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,4.955668147159054e-16,-5.875696034273032e-15,-2.6067939312776702e-08],"qvel":[-0.17424823838681078,-0.017671025684971524,0.01023754611541834,0.007649352446801153,-0.0006986109948445648,-0.17274738554673882,-1.5013738116710195e-05,2.3172712061908315e-05,0.00016851505559254808,0.00019373254763257338,-1.0120373620419321e-05,-3.0002673713187572e-05,-0.0001816484726717747,-0.00013785137428973514,7.391355124897418e-15,6.182323789049519e-16,6.628886179370786e-15,-1.8428445289060464e-14,2.298666301122086e-13,-1.364947626171406e-08],"joint_position_rad":[-1.7108028528146026,-1.5992142914354444,1.3445090646673246,-1.316139118695132,-1.570898049426954,-0.13992721068307792],"joint_velocity_rad_s":[-0.17424823838681078,-0.017671025684971524,0.01023754611541834,0.007649352446801153,-0.0006986109948445648,-0.17274738554673882],"linkage_position_rad":[0.0029335156340460087,0.00015649666974149919,0.003194260821097144,-0.0034284112214240763,0.002933569154042111,0.00015605788539706876,0.0031964191837694747,-0.0034387514038877872],"tcp_position_m":[-0.06745301512922362,0.4814130414496729,0.4308015854576876],"tcp_quaternion_wxyz":[2.6187426328613453e-05,0.7071348225816858,0.7070787364424458,4.977489621064931e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.955668147159054e-16,-5.875696034273032e-15,-2.6067939312776702e-08],"object_linear_velocity_m_s":[7.391355124897418e-15,6.182323789049519e-16,6.628886179370786e-15],"object_angular_velocity_rad_s":[-1.8428433144361377e-14,2.2986663108652013e-13,-1.3649476261714068e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517896156338,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7450099428599037,-1.612367035478608,1.3364046139361825,-1.3194088372139399,-1.5709014995636763,-0.17412940341399186,0.0],"actuator_force":[1.2851152641219414,-19.237077812338157,-20.303919908451462,-2.399794504084184,0.06813603112334476,0.17364218921692043,-0.29322856884572035],"issued_joint_targets_rad":[-1.748597122616598,-1.6030109647485467,1.3466429606392336,-1.3144267068794733,-1.5709021701054124,-0.1777137454248499],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.500000000000171,"joint_targets_rad":[-1.748597122616598,-1.6030109647485467,1.3466429606392336,-1.3144267068794733,-1.5709021701054124,-0.1777137454248499],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.520000000000178,"qpos":[-1.714396602210073,-1.5995793708750832,1.3447124718451178,-1.3159753192838346,-1.5708988129043793,-0.14352020407821306,0.0029335152363497378,0.00015649551453522293,0.0031942645804564074,-0.0034284089312202814,0.0029335689777185746,0.00015605907179027883,0.0031964323074627366,-0.003438746583066539,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,4.955203072365451e-16,-5.56002323308889e-15,-2.654807544449213e-08],"qvel":[-0.17420215227683652,-0.016966201663884805,0.009550400323014801,0.007626194162846134,-0.000694178168722048,-0.17270370083952227,-1.5128077809023718e-05,2.3075693136957917e-05,0.00016871420446317405,0.00019398012762886305,-1.0191970049644196e-05,-2.9868914108564944e-05,-0.0001805708565982449,-0.0001374316429905642,7.296810928715862e-15,6.466719620107083e-16,6.634437294493913e-15,-1.1556524470838396e-14,1.4916254311236052e-13,-2.4920496731843898e-08],"joint_position_rad":[-1.714396602210073,-1.5995793708750832,1.3447124718451178,-1.3159753192838346,-1.5708988129043793,-0.14352020407821306],"joint_velocity_rad_s":[-0.17420215227683652,-0.016966201663884805,0.009550400323014801,0.007626194162846134,-0.000694178168722048,-0.17270370083952227],"linkage_position_rad":[0.0029335152363497378,0.00015649551453522293,0.0031942645804564074,-0.0034284089312202814,0.0029335689777185746,0.00015605907179027883,0.0031964323074627366,-0.003438746583066539],"tcp_position_m":[-0.06574687115211503,0.4814824673710292,0.430858265312822],"tcp_quaternion_wxyz":[2.73086168667976e-05,0.7071350898293367,0.7070784691812475,4.9057088944305136e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.955203072365451e-16,-5.56002323308889e-15,-2.654807544449213e-08],"object_linear_velocity_m_s":[7.296810928715862e-15,6.466719620107083e-16,6.634437294493913e-15],"object_angular_velocity_rad_s":[-1.1556516273764409e-14,1.491625437506646e-13,-2.4920496731843914e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517737342472,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7485943715047485,-1.612586226557259,1.336471896784484,-1.3192489978876536,-1.5709015227922798,-0.17771374754960553,0.0],"actuator_force":[1.285322321383319,-19.22723069879794,-20.301310250473307,-2.3994587181940688,0.0680628729220416,0.17359834825599307,-0.29322761046412227],"issued_joint_targets_rad":[-1.7521794394866168,-1.6032233947674859,1.3466952173241487,-1.3142670957978568,-1.5709021382089206,-0.1812960870650166],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.520000000000178,"joint_targets_rad":[-1.7521794394866168,-1.6032233947674859,1.3466952173241487,-1.3142670957978568,-1.5709021382089206,-0.1812960870650166],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.540000000000185,"qpos":[-1.7179892912217327,-1.5999298846526382,1.344901457791142,-1.3158119233331562,-1.5708995033899085,-0.14711220421040028,0.0029335146056286387,0.0001564943454930039,0.003194268081043932,-0.003428406424197458,0.0029335685709736183,0.0001560602744377219,0.003196445271572024,-0.0034387415316726373,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,4.779023670641235e-16,-4.875205830118588e-15,-2.695550836987642e-08],"qvel":[-0.17415131292611574,-0.016259765059205292,0.008862073442339762,0.007603936557331371,-0.0006900251133864314,-0.17265491875718408,-1.5240224469140286e-05,2.2977147798209974e-05,0.00016890986870455205,0.00019422403324216009,-1.026102909179541e-05,-2.9733594971201265e-05,-0.00017948548931795682,-0.000137013013722936,7.355891872724282e-15,7.380216870800101e-16,6.6358250732746954e-15,1.2708058597915488e-15,3.628057247464682e-14,-4.549853382312091e-08],"joint_position_rad":[-1.7179892912217327,-1.5999298846526382,1.344901457791142,-1.3158119233331562,-1.5708995033899085,-0.14711220421040028],"joint_velocity_rad_s":[-0.17415131292611574,-0.016259765059205292,0.008862073442339762,0.007603936557331371,-0.0006900251133864314,-0.17265491875718408],"linkage_position_rad":[0.0029335146056286387,0.0001564943454930039,0.003194268081043932,-0.003428406424197458,0.0029335685709736183,0.0001560602744377219,0.003196445271572024,-0.0034387415316726373],"tcp_position_m":[-0.06404071000320265,0.48155197723696186,0.43091503745089754],"tcp_quaternion_wxyz":[2.831845013966874e-05,0.7071353333490408,0.7070782256465494,4.841417920134274e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.779023670641235e-16,-4.875205830118588e-15,-2.695550836987642e-08],"object_linear_velocity_m_s":[7.355891872724282e-15,7.380216870800101e-16,6.6358250732746954e-15],"object_angular_velocity_rad_s":[1.2708082593435338e-15,3.6280572449624055e-14,-4.5498533823120945e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517580272267,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.752176795135564,-1.6127908411727832,1.3365245230706164,-1.3190893850238188,-1.5709015302289415,-0.181296089194593,0.0],"actuator_force":[1.2855173427838054,-19.218007016607316,-20.298698817987315,-2.399124501064307,0.06798909182214175,0.17354938362204564,-0.29322665256230823],"issued_joint_targets_rad":[-1.7557596555471742,-1.6034209298769078,1.3467328147089817,-1.3141077186255359,-1.5709020918687289,-0.1848763304247304],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.540000000000185,"joint_targets_rad":[-1.7557596555471742,-1.6034209298769078,1.3467328147089817,-1.3141077186255359,-1.5709020918687289,-0.1848763304247304],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.5600000000001915,"qpos":[-1.7215808215393764,-1.600265800899845,1.3450759998355641,-1.3156489145615322,-1.570900126478988,-0.15070310648818958,0.0029335137844849223,0.0001564931628335348,0.003194271364322031,-0.003428403741012913,0.002933567976339736,0.00015606149290981345,0.00319645811560164,-0.003438736290609474,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,4.315239641592065e-16,-4.083355693494726e-15,-2.731414807150617e-08],"qvel":[-0.17409573273882345,-0.015551824066017786,0.00817266643512723,0.007582455541964843,-0.000686129247162785,-0.1726010837538309,-1.535061037971714e-05,2.2877081968769498e-05,0.00016910165954380632,0.00019446469264744853,-1.0327982755095631e-05,-2.959672226623368e-05,-0.0001783927957837345,-0.00013659507294705976,7.964337428588527e-15,8.699957254490343e-16,6.635825073274696e-15,1.626977778357168e-14,-1.0652501836681101e-13,-8.306883295026764e-08],"joint_position_rad":[-1.7215808215393764,-1.600265800899845,1.3450759998355641,-1.3156489145615322,-1.570900126478988,-0.15070310648818958],"joint_velocity_rad_s":[-0.17409573273882345,-0.015551824066017786,0.00817266643512723,0.007582455541964843,-0.000686129247162785,-0.1726010837538309],"linkage_position_rad":[0.0029335137844849223,0.0001564931628335348,0.003194271364322031,-0.003428403741012913,0.002933567976339736,0.00015606149290981345,0.00319645811560164,-0.003438736290609474],"tcp_position_m":[-0.06233453128721927,0.48162157158181923,0.43097190274603137],"tcp_quaternion_wxyz":[2.9227579788287218e-05,0.7071355553616014,0.7070780036181596,4.783874398227021e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.315239641592065e-16,-4.083355693494726e-15,-2.731414807150617e-08],"object_linear_velocity_m_s":[7.964337428588527e-15,8.699957254490343e-16,6.635825073274696e-15],"object_angular_velocity_rad_s":[1.6269772642690605e-14,-1.065250191839088e-13,-8.30688329502677e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517424590595,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7557571179687632,-1.612980869195654,1.336562490222571,-1.3189300068494199,-1.5709015230014156,-0.1848763325587672,0.0],"actuator_force":[1.2857002367554742,-19.209406965210746,-20.296085800036963,-2.3987916981403714,0.06791466350239261,0.17349534009426293,-0.29322569507555885],"issued_joint_targets_rad":[-1.7593376752290744,-1.6036035596703597,1.3467557496637055,-1.3139485827313693,-1.5709020320927412,-0.18845437991524755],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.5600000000001915,"joint_targets_rad":[-1.7593376752290744,-1.6036035596703597,1.3467557496637055,-1.3139485827313693,-1.5709020320927412,-0.18845437991524755],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.580000000000198,"qpos":[-1.725171095105197,-1.6005870898268633,1.3452360771752299,-1.315486278956725,-1.5709006873277456,-0.15429280718028265,0.002933512807833512,0.0001564919667656173,0.0031942744642403757,-0.0034284009149947426,0.0029335672286682738,0.0001560627268123736,0.003196470871671786,-0.003438730893446267,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,3.627785742135737e-16,-3.2854155006362767e-15,-2.7629247941870787e-08],"qvel":[-0.17403542388743778,-0.014842478231806169,0.007482268084649942,0.007561643257169209,-0.0006824696650024296,-0.17254223695665957,-1.5459590682661118e-05,2.2775502111441517e-05,0.00016928926668280674,0.0001947024606554412,-1.0393186199387225e-05,-2.94583026572333e-05,-0.0001772931276547021,-0.00013617748092654172,4.0969416614015175e-15,4.477561126195302e-16,6.635825073274696e-15,-1.6007767444309813e-14,1.506481933791595e-13,-8.999827785579174e-09],"joint_position_rad":[-1.725171095105197,-1.6005870898268633,1.3452360771752299,-1.315486278956725,-1.5709006873277456,-0.15429280718028265],"joint_velocity_rad_s":[-0.17403542388743778,-0.014842478231806169,0.007482268084649942,0.007561643257169209,-0.0006824696650024296,-0.17254223695665957],"linkage_position_rad":[0.002933512807833512,0.0001564919667656173,0.0031942744642403757,-0.0034284009149947426,0.0029335672286682738,0.0001560627268123736,0.003196470871671786,-0.003438730893446267],"tcp_position_m":[-0.060628334610248726,0.4816912509434375,0.4310288621220405],"tcp_quaternion_wxyz":[3.0045634520559845e-05,0.7071357578728831,0.7070778010906812,4.732408510545187e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.627785742135737e-16,-3.2854155006362767e-15,-2.7629247941870787e-08],"object_linear_velocity_m_s":[4.0969416614015175e-15,4.477561126195302e-16,6.635825073274696e-15],"object_angular_velocity_rad_s":[-1.6007759060580878e-14,1.5064819427025444e-13,-8.99982778557918e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517270008867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7593352444217145,-1.613156300845713,1.3365857951118132,-1.3187708706542505,-1.5709015021289536,-0.18845438205341897,0.0],"actuator_force":[1.2858709219399316,-19.201430744977188,-20.293471360693275,-2.3984601744796237,0.0678395658962927,0.17343625909781224,-0.29322473794067905],"issued_joint_targets_rad":[-1.762913403172134,-1.603771274129224,1.3467640184983132,-1.313789694536338,-1.5709019597919989,-0.192030140158275],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.580000000000198,"joint_targets_rad":[-1.762913403172134,-1.603771274129224,1.3467640184983132,-1.313789694536338,-1.5709019597919989,-0.192030140158275],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.600000000000205,"qpos":[-1.7287600141102182,-1.6008937235580634,1.3453816706419643,-1.3153240044676124,-1.570901190685751,-0.15788120335313233,0.002933511704291726,0.00015649075748889945,0.0031942774086073673,-0.003428397973457577,0.002933566356518536,0.00015606397578288468,0.003196483565877055,-0.003438725367730969,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,3.3044697293382654e-16,-3.0048590624477816e-15,-2.808359495414543e-08],"qvel":[-0.17397039837357858,-0.014131819279668181,0.006790956133432155,0.007541406527491166,-0.0006790270253824451,-0.17247841652644133,-1.556745731304567e-05,2.267241541078831e-05,0.0001694724449971738,0.0001949376331486673,-1.0456931657898265e-05,-2.931834362444521e-05,-0.0001761867766310881,-0.00013575995757632468,3.835738794166479e-15,4.1933350566732975e-16,6.695499560848297e-15,-1.187927723956287e-14,1.0967292006720692e-13,-1.6431412796886776e-08],"joint_position_rad":[-1.7287600141102182,-1.6008937235580634,1.3453816706419643,-1.3153240044676124,-1.570901190685751,-0.15788120335313233],"joint_velocity_rad_s":[-0.17397039837357858,-0.014131819279668181,0.006790956133432155,0.007541406527491166,-0.0006790270253824451,-0.17247841652644133],"linkage_position_rad":[0.002933511704291726,0.00015649075748889945,0.0031942774086073673,-0.003428397973457577,0.002933566356518536,0.00015606397578288468,0.003196483565877055,-0.003438725367730969],"tcp_position_m":[-0.05892211958020526,0.48176101586409986,0.4310859165527047],"tcp_quaternion_wxyz":[3.0781316436465656e-05,0.7071359426946309,0.707077616252725,4.686415876634469e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.3044697293382654e-16,-3.0048590624477816e-15,-2.808359495414543e-08],"object_linear_velocity_m_s":[3.835738794166479e-15,4.1933350566732975e-16,6.695499560848297e-15],"object_angular_velocity_rad_s":[-1.187927098079497e-14,1.0967292074529187e-13,-1.643141279688679e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517116292658,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7629110791217977,-1.6133171266916626,1.3365944340482137,-1.3186119827878338,-1.5709014685327483,-0.19203014230028645,0.0],"actuator_force":[1.2860293262724554,-19.194078555331544,-20.29085564087427,-2.3981298128597928,0.06776377903963748,0.1733721790670586,-0.29322378109565833],"issued_joint_targets_rad":[-1.7664867442346843,-1.6039240636189516,1.3467576169563835,-1.313631059510531,-1.5709018757900401,-0.19560351599530784],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.600000000000205,"joint_targets_rad":[-1.7664867442346843,-1.6039240636189516,1.3467576169563835,-1.313631059510531,-1.5709018757900401,-0.19560351599530784],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6200000000002115,"qpos":[-1.7323474809919037,-1.6011856759834087,1.3455127624923855,-1.3151620807252178,-1.5709016409265395,-0.161468192815413,0.0029335104973179297,0.0001564895351948338,0.003194280220211725,-0.00342839493879483,0.002933565383295834,0.00015606523948670457,0.0031964962193938183,-0.0034387197360885094,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,3.0604556536937596e-16,-2.754283488280771e-15,-2.853490239376852e-08],"qvel":[-0.17390066808497687,-0.013419931850922521,0.006098798307897427,0.007521665468433975,-0.0006757834434888372,-0.1724096579851594,-1.567445039962823e-05,2.256782957043133e-05,0.00016965100254313694,0.0001951704564565148,-1.0519459803199435e-05,-2.9176853231069497e-05,-0.0001750739855490224,-0.0001353422721537663,3.748704300717349e-15,4.1469794661851454e-16,6.713540684998459e-15,-6.3506587228181795e-15,5.997374159492125e-14,-2.999961031858711e-08],"joint_position_rad":[-1.7323474809919037,-1.6011856759834087,1.3455127624923855,-1.3151620807252178,-1.5709016409265395,-0.161468192815413],"joint_velocity_rad_s":[-0.17390066808497687,-0.013419931850922521,0.006098798307897427,0.007521665468433975,-0.0006757834434888372,-0.1724096579851594],"linkage_position_rad":[0.0029335104973179297,0.0001564895351948338,0.003194280220211725,-0.00342839493879483,0.002933565383295834,0.00015606523948670457,0.0031964962193938183,-0.0034387197360885094],"tcp_position_m":[-0.0572158858072879,0.48183086689149013,0.43114306706222694],"tcp_quaternion_wxyz":[3.144248992147304e-05,0.7071361114632712,0.7070774474681288,4.645351194620389e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,3.0604556536937596e-16,-2.754283488280771e-15,-2.853490239376852e-08],"object_linear_velocity_m_s":[3.748704300717349e-15,4.1469794661851454e-16,6.713540684998459e-15],"object_angular_velocity_rad_s":[-6.350655134873586e-15,5.997374197571455e-14,-2.9999610318587136e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516963251706,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7664845269158098,-1.6134633376501353,1.336588402773971,-1.3184533486556664,-1.5709014230453793,-0.1956035181408929,0.0],"actuator_force":[1.2861753861784564,-19.187350593084375,-20.288238759987962,-2.397800512067647,0.06768728492909304,0.17330313577599554,-0.293222824479674],"issued_joint_targets_rad":[-1.770057603503354,-1.60406191888513,1.3467365402076599,-1.3134726821693854,-1.5709017808313646,-0.1991744124972596],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.6200000000002115,"joint_targets_rad":[-1.770057603503354,-1.60406191888513,1.3467365402076599,-1.3134726821693854,-1.5709017808313646,-0.1991744124972596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.640000000000218,"qpos":[-1.735933398432865,-1.601462922623892,1.3456293362170817,-1.3150004987901063,-1.5709020420760265,-0.16505367406873261,0.002933509206144818,0.00015648830006741488,0.0031942829177422196,-0.0034283918293566873,0.002933564328184253,0.00015606651761368657,0.0031965088493872366,-0.0034387140170980936,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,2.567106806218139e-16,-2.462139049488976e-15,-2.896270815318744e-08],"qvel":[-0.17382624484865525,-0.012706894174815358,0.005405853240663333,0.007502352230164427,-0.0006727223905434075,-0.17233599451360124,-1.5780767688393044e-05,2.2461752815901225e-05,0.00016982479130861562,0.0001954011370654789,-1.0580969156605375e-05,-2.9033840244432654e-05,-0.00017395495781297497,-0.00013492423485607735,3.889891030021053e-15,3.9115398520498356e-16,6.714928463779242e-15,-2.6018876415271974e-15,-1.514154876747724e-15,-5.477171259659925e-08],"joint_position_rad":[-1.735933398432865,-1.601462922623892,1.3456293362170817,-1.3150004987901063,-1.5709020420760265,-0.16505367406873261],"joint_velocity_rad_s":[-0.17382624484865525,-0.012706894174815358,0.005405853240663333,0.007502352230164427,-0.0006727223905434075,-0.17233599451360124],"linkage_position_rad":[0.002933509206144818,0.00015648830006741488,0.0031942829177422196,-0.0034283918293566873,0.002933564328184253,0.00015606651761368657,0.0031965088493872366,-0.0034387140170980936],"tcp_position_m":[-0.055509632904416836,0.48190080457965595,0.4312003147258796],"tcp_quaternion_wxyz":[3.203626201726637e-05,0.7071362656568895,0.7070772932590003,4.608722499993848e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.567106806218139e-16,-2.462139049488976e-15,-2.896270815318744e-08],"object_linear_velocity_m_s":[3.889891030021053e-15,3.9115398520498356e-16,6.714928463779242e-15],"object_angular_velocity_rad_s":[-2.601887459524101e-15,-1.5141546979113384e-15,-5.4771712596599295e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516810731605,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7700554928796632,-1.6135949249843269,1.3365676964565174,-1.3182949727147906,-1.5709013664193634,-0.1991744146461772,0.0],"actuator_force":[1.2863090458658917,-19.18124705094351,-20.285620817394374,-2.3974721853586516,0.0676100673857718,0.17322916263783839,-0.2932218680322286],"issued_joint_targets_rad":[-1.7736258863031011,-1.6041848310493552,1.3467007828396589,-1.3133145660692218,-1.5709016755890908,-0.20274273497435322],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.640000000000218,"joint_targets_rad":[-1.7736258863031011,-1.6041848310493552,1.3467007828396589,-1.3133145660692218,-1.5709016755890908,-0.20274273497435322],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.660000000000225,"qpos":[-1.7395176693605898,-1.601725440509653,1.3457313763672105,-1.3148392509235531,-1.5709023978389358,-0.16863754626401434,0.0029335078465442216,0.0001564870522842282,0.003194285516539857,-0.0034283886601847325,0.0029335632069110128,0.0001560678098757196,0.003196521469755278,-0.0034387082260326145,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.9365875994394707e-16,-1.963622500258055e-15,-2.9270063420761777e-08],"qvel":[-0.17374714048046305,-0.011992778672233306,0.004712171300328176,0.007483409864779129,-0.0006698285990647712,-0.17225745722163147,-1.588657214714239e-05,2.235419396075771e-05,0.00016999370002024304,0.00019562984956823868,-1.0641623674041012e-05,-2.8889313991491974e-05,-0.00017282986422148113,-0.0001345056880802157,4.3790399350909275e-15,4.023856348524303e-16,6.707989569875334e-15,5.2393179156866045e-15,-8.320488584083371e-14,-9.999931562131873e-08],"joint_position_rad":[-1.7395176693605898,-1.601725440509653,1.3457313763672105,-1.3148392509235531,-1.5709023978389358,-0.16863754626401434],"joint_velocity_rad_s":[-0.17374714048046305,-0.011992778672233306,0.004712171300328176,0.007483409864779129,-0.0006698285990647712,-0.17225745722163147],"linkage_position_rad":[0.0029335078465442216,0.0001564870522842282,0.003194285516539857,-0.0034283886601847325,0.0029335632069110128,0.0001560678098757196,0.003196521469755278,-0.0034387082260326145],"tcp_position_m":[-0.05380336048764763,0.4819708294899784,0.43125766067084054],"tcp_quaternion_wxyz":[3.256905508315059e-05,0.7071364066105664,0.7070771522903957,4.576085982593396e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.9365875994394707e-16,-1.963622500258055e-15,-2.9270063420761777e-08],"object_linear_velocity_m_s":[4.3790399350909275e-15,4.023856348524303e-16,6.707989569875334e-15],"object_angular_velocity_rad_s":[5.239313437583843e-15,-8.320488610881249e-14,-9.999931562131882e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516658607135,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.77362388232834,-1.6137118803021948,1.3365323096804236,-1.3181368584687223,-1.570901299334887,-0.20274273712638516,0.0],"actuator_force":[1.2864302566849801,-19.175768116190284,-20.283001893705205,-2.397144759062485,0.06753211193085917,0.1731502909777305,-0.29322091169365583],"issued_joint_targets_rad":[-1.7771914982074275,-1.6042927916048535,1.3466503388482545,-1.3131567138020523,-1.57090156067188,-0.20630838898621692],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.660000000000225,"joint_targets_rad":[-1.7771914982074275,-1.6042927916048535,1.3466503388482545,-1.3131567138020523,-1.57090156067188,-0.20630838898621692],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6800000000002315,"qpos":[-1.7431001969481195,-1.6019732080695182,1.345818868396759,-1.3146783303801433,-1.5709027116233658,-0.1722197091630234,0.0029335064314537024,0.0001564857920169426,0.00319428802921225,-0.003428385443613835,0.00293356203237263,0.00015606911600367704,0.003196534091732759,-0.0034387023754434928,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.5728724060679313e-16,-1.6819068372484566e-15,-2.9649384644736267e-08],"qvel":[-0.17366336683102396,-0.01127765249960555,0.0040177953373301606,0.007464791305417451,-0.0006670879738347794,-0.1721740753935086,-1.5991998340771712e-05,2.2245162277651594e-05,0.00017015764720323186,0.00019585674101331544,-1.0701559105921496e-05,-2.874328444984253e-05,-0.00017169884976394323,-0.00013408650233292464,2.1049186831486028e-15,1.977725596619546e-16,6.716316242560024e-15,-7.046117174768651e-15,7.271866505207646e-14,-1.0834106936430802e-08],"joint_position_rad":[-1.7431001969481195,-1.6019732080695182,1.345818868396759,-1.3146783303801433,-1.5709027116233658,-0.1722197091630234],"joint_velocity_rad_s":[-0.17366336683102396,-0.01127765249960555,0.0040177953373301606,0.007464791305417451,-0.0006670879738347794,-0.1721740753935086],"linkage_position_rad":[0.0029335064314537024,0.0001564857920169426,0.00319428802921225,-0.003428385443613835,0.00293356203237263,0.00015606911600367704,0.003196534091732759,-0.0034387023754434928],"tcp_position_m":[-0.052097068176574564,0.48204094219215926,0.431315106077212],"tcp_quaternion_wxyz":[3.3046672488135086e-05,0.707136535530225,0.707077023356486,4.5470413079289636e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.5728724060679313e-16,-1.6819068372484566e-15,-2.9649384644736267e-08],"object_linear_velocity_m_s":[2.1049186831486028e-15,1.977725596619546e-16,6.716316242560024e-15],"object_angular_velocity_rad_s":[-7.046112826197386e-15,7.27186654733106e-14,-1.0834106936430812e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516506776778,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7771896008260355,-1.6138141955541845,1.3364822364382525,-1.3179790084617156,-1.570901222406804,-0.20630839114116561,0.0],"actuator_force":[1.2865389765775035,-19.170913969489902,-20.280382051944798,-2.3968181713278227,0.06745340566442337,0.17306655027975637,-0.2932199554040832],"issued_joint_targets_rad":[-1.7807543450487484,-1.604385792411842,1.3465852016272664,-1.312999126989709,-1.5709014366301972,-0.20987128035214295],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.6800000000002315,"joint_targets_rad":[-1.7807543450487484,-1.604385792411842,1.3465852016272664,-1.312999126989709,-1.5709014366301972,-0.20987128035214295],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.700000000000238,"qpos":[-1.7466808846156063,-1.6022062050308181,1.3458917985188723,-1.3145177312196759,-1.5709029865636037,-0.175800063104563,0.002933504971490367,0.00015648451943219284,0.0031942904661395525,-0.003428382189748407,0.0029335608151483724,0.00015607043574576078,0.003196546724387599,-0.003438696475666354,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.5450255211586485e-16,-1.5909563463165122e-15,-3.013480725319526e-08],"qvel":[-0.17357493582824815,-0.010561578038745476,0.003322761354052959,0.0074464584462762195,-0.0006644875083514655,-0.17208587671044487,-1.6097157533756082e-05,2.213466749469487e-05,0.00017031657642040463,0.0001960819376501033,-1.0760888072719457e-05,-2.8595762075104722e-05,-0.00017056203775870477,-0.00013366656917045074,2.042827715258614e-15,1.994900069885855e-16,6.71215290621768e-15,-4.615115794812373e-15,5.1969021601196965e-14,-1.978034331317444e-08],"joint_position_rad":[-1.7466808846156063,-1.6022062050308181,1.3458917985188723,-1.3145177312196759,-1.5709029865636037,-0.175800063104563],"joint_velocity_rad_s":[-0.17357493582824815,-0.010561578038745476,0.003322761354052959,0.0074464584462762195,-0.0006644875083514655,-0.17208587671044487],"linkage_position_rad":[0.002933504971490367,0.00015648451943219284,0.0031942904661395525,-0.003428382189748407,0.0029335608151483724,0.00015607043574576078,0.003196546724387599,-0.003438696475666354],"tcp_position_m":[-0.050390755594718485,0.4821111432652281,0.4313726521792197],"tcp_quaternion_wxyz":[3.3474358006942964e-05,0.7071366535051371,0.7070769053680597,4.521227393008597e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.5450255211586485e-16,-1.5909563463165122e-15,-3.013480725319526e-08],"object_linear_velocity_m_s":[2.042827715258614e-15,1.994900069885855e-16,6.71215290621768e-15],"object_angular_velocity_rad_s":[-4.615112599720146e-15,5.19690218854604e-14,-1.9780343313174457e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516355158225,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.780752554196466,-1.6139018630305022,1.3364174701203944,-1.3178214242723953,-1.5709011361909637,-0.2098712825098294,0.0],"actuator_force":[1.2866351695797675,-19.166684783870096,-20.277761338576965,-2.396492370987289,0.06737393715502549,0.17297796841128843,-0.29321899910390464],"issued_joint_targets_rad":[-1.7843143329288726,-1.6044638256925714,1.3465053639569684,-1.3128418062772433,-1.5709013039619717,-0.21343131516146321],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.700000000000238,"joint_targets_rad":[-1.7843143329288726,-1.6044638256925714,1.3465053639569684,-1.3128418062772433,-1.5709013039619717,-0.21343131516146321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.720000000000245,"qpos":[-1.750259636032682,-1.6024244123284697,1.3459501535748097,-1.3143574481364604,-1.570903225541299,-0.17937850897490376,0.0029335034753716466,0.00015648323469216925,0.003194292835885255,-0.003428378906874893,0.0029335595639206884,0.0001560717688649099,0.0031965593750260903,-0.0034386905352078263,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.4500455252301766e-16,-1.4241262943724195e-15,-3.055598189006445e-08],"qvel":[-0.17348185951650966,-0.009844613337625593,0.002627099105974779,0.0074283813140681556,-0.0006620152065257993,-0.17199288745237049,-1.6202141946745565e-05,2.2022719841456486e-05,0.00017047045205289253,0.0001963055479141397,-1.0819704320654309e-05,-2.8446757857491144e-05,-0.00016941953431226265,-0.0001332457985944043,2.0282177036017966e-15,2.0955045960274396e-16,6.7149284637792424e-15,-1.6747080991577288e-15,2.1777965441328158e-14,-3.61139117310563e-08],"joint_position_rad":[-1.750259636032682,-1.6024244123284697,1.3459501535748097,-1.3143574481364604,-1.570903225541299,-0.17937850897490376],"joint_velocity_rad_s":[-0.17348185951650966,-0.009844613337625593,0.002627099105974779,0.0074283813140681556,-0.0006620152065257993,-0.17199288745237049],"linkage_position_rad":[0.0029335034753716466,0.00015648323469216925,0.003194292835885255,-0.003428378906874893,0.0029335595639206884,0.0001560717688649099,0.0031965593750260903,-0.0034386905352078263],"tcp_position_m":[-0.04868442236990472,0.4821814332985748,0.43143030026659906],"tcp_quaternion_wxyz":[3.385684951594972e-05,0.7071367615192202,0.7070767973412332,4.498318593011801e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.4500455252301766e-16,-1.4241262943724195e-15,-3.055598189006445e-08],"object_linear_velocity_m_s":[2.0282177036017966e-15,2.0955045960274396e-16,6.7149284637792424e-15],"object_angular_velocity_rad_s":[-1.674706665401949e-15,2.1777965554146198e-14,-3.611391173105633e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516203684712,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.784312648533291,-1.613974875357889,1.3363380035037988,-1.3176641065067147,-1.5709010411899342,-0.21343131732172513,0.0],"actuator_force":[1.2867188053860446,-19.163080723788426,-20.27513978441175,-2.396167316534047,0.06729369633501392,0.17288457182637273,-0.2932180427332798],"issued_joint_targets_rad":[-1.787871368229544,-1.6045268840260252,1.3464108179915222,-1.3126847513256317,-1.5709011631177163,-0.21698839978400647],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.720000000000245,"joint_targets_rad":[-1.787871368229544,-1.6045268840260252,1.3464108179915222,-1.3126847513256317,-1.5709011631177163,-0.21698839978400647],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.740000000000252,"qpos":[-1.7538363551215674,-1.6026278120223767,1.3459939209142162,-1.314197476304269,-1.5709034312051022,-0.18295494818204808,0.0029335019502603793,0.0001564819379551182,0.0031942951455343526,-0.0034283756017841967,0.002933558285820004,0.0001560731151374768,0.0031965720495219082,-0.0034386845610834683,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.400958859176297e-16,-1.2346674628693301e-15,-3.09430686564024e-08],"qvel":[-0.17338415009258695,-0.00912681250674398,0.001930832640498857,0.007410537322052416,-0.0006596600094116558,-0.171895132680741,-1.6307028256613447e-05,2.1909329871468082e-05,0.0001706192553547204,0.0001965276651966305,-1.0878086191419683e-05,-2.829628325187209e-05,-0.00016827143150341379,-0.00013282411469482593,2.1398079304776832e-15,2.5828414699234165e-16,6.721867357683149e-15,4.251490589002011e-15,-1.4569358259292376e-14,-6.593488292238182e-08],"joint_position_rad":[-1.7538363551215674,-1.6026278120223767,1.3459939209142162,-1.314197476304269,-1.5709034312051022,-0.18295494818204808],"joint_velocity_rad_s":[-0.17338415009258695,-0.00912681250674398,0.001930832640498857,0.007410537322052416,-0.0006596600094116558,-0.171895132680741],"linkage_position_rad":[0.0029335019502603793,0.0001564819379551182,0.0031942951455343526,-0.0034283756017841967,0.002933558285820004,0.0001560731151374768,0.0031965720495219082,-0.0034386845610834683],"tcp_position_m":[-0.046978068134632664,0.4822518128930124,0.43148805168615956],"tcp_quaternion_wxyz":[3.419842754552606e-05,0.7071368604612378,0.7070766983872567,4.478021258906165e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.400958859176297e-16,-1.2346674628693301e-15,-3.09430686564024e-08],"object_linear_velocity_m_s":[2.1398079304776832e-15,2.5828414699234165e-16,6.721867357683149e-15],"object_angular_velocity_rad_s":[4.2514898501760114e-15,-1.4569358503926287e-14,-6.593488292238187e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516052302036,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7878697902106047,-1.6140332254958956,1.3362438287396148,-1.3175070547902563,-1.570900937858182,-0.21698840194669664,0.0],"actuator_force":[1.2867898589606739,-19.160101944340113,-20.27251740540214,-2.395842975198889,0.06721267440127576,0.17278638574981642,-0.29321708623177895],"issued_joint_targets_rad":[-1.7914253576230281,-1.60457496034224,1.3463015552452675,-1.3125279608037472,-1.5709010145051512,-0.22054244088060124],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.740000000000252,"joint_targets_rad":[-1.7914253576230281,-1.60457496034224,1.3463015552452675,-1.3125279608037472,-1.5709010145051512,-0.22054244088060124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.760000000000258,"qpos":[-1.7574109460608671,-1.602816387222308,1.346023088285515,-1.314037811235372,-1.5709036059888684,-0.18652928263346838,0.002933500402047536,0.00015648062937615213,0.0031942974009687725,-0.0034283722800470323,0.0029335569867071382,0.00015607447435117417,0.0031965847525877392,-0.003438678559085495,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.162590586054944e-16,-9.36788373768165e-16,-3.119317537300679e-08],"qvel":[-0.17328181993853317,-0.008408226075217474,0.0012339807791205656,0.007392910598827441,-0.0006574117266478178,-0.17179263640402953,-1.6411880431219947e-05,2.1794508589562932e-05,0.00017076298216120667,0.00019674837207106095,-1.0936099458291761e-05,-2.8144350221707453e-05,-0.0001671178099880225,-0.0001324014544883834,1.1685031218689286e-15,1.4150701490971576e-16,6.7232551364639306e-15,-4.8881405894541955e-15,4.533457505041005e-14,-7.1435046128440985e-09],"joint_position_rad":[-1.7574109460608671,-1.602816387222308,1.346023088285515,-1.314037811235372,-1.5709036059888684,-0.18652928263346838],"joint_velocity_rad_s":[-0.17328181993853317,-0.008408226075217474,0.0012339807791205656,0.007392910598827441,-0.0006574117266478178,-0.17179263640402953],"linkage_position_rad":[0.002933500402047536,0.00015648062937615213,0.0031942974009687725,-0.0034283722800470323,0.0029335569867071382,0.00015607447435117417,0.0031965847525877392,-0.003438678559085495],"tcp_position_m":[-0.04527169252643885,0.4823222826618768,0.43154590784354113],"tcp_quaternion_wxyz":[3.450295917210693e-05,0.7071369511340133,0.7070766077033053,4.460070629693279e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.162590586054944e-16,-9.36788373768165e-16,-3.119317537300679e-08],"object_linear_velocity_m_s":[1.1685031218689286e-15,1.4150701490971576e-16,6.7232551364639306e-15],"object_angular_velocity_rad_s":[-4.8881377478115864e-15,4.5334575357024257e-14,-7.143504612844105e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515900966149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7914238858934748,-1.6140769067326308,1.3361349373396694,-1.3173502677598423,-1.5709008266067483,-0.22054244304558598,0.0],"actuator_force":[1.286848310197911,-19.157748590558185,-20.26989420333939,-2.3955193221178206,0.06713086372474208,0.1726834343441368,-0.29321612953828613],"issued_joint_targets_rad":[-1.794976208082688,-1.6046080479161982,1.3461775665778122,-1.3123714323795772,-1.570900858493388,-0.22409334541357773],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.760000000000258,"joint_targets_rad":[-1.794976208082688,-1.6046080479161982,1.3461775665778122,-1.3123714323795772,-1.570900858493388,-0.22409334541357773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.780000000000265,"qpos":[-1.7609833132899786,-1.6029901220194913,1.346037643735352,-1.313878448652245,-1.5709037521285194,-0.19010141471698505,0.0029334988355840877,0.00015647930910750368,0.0031942996070934222,-0.003428368946232036,0.002933555671404988,0.0001560758463041037,0.0031965974879951007,-0.003438672534004067,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.2085065106986355e-16,-8.742306565980355e-16,-3.16498070777142e-08],"qvel":[-0.17317488165153566,-0.0076889013103000475,0.0005365575480283263,0.007375491384901867,-0.0006552609724740056,-0.17168542172735474,-1.6516752065237366e-05,2.167826737245429e-05,0.00017090164028548253,0.00019696774141166317,-1.099379963982648e-05,-2.7990971155068193e-05,-0.00016595874121404347,-0.0001319777638242175,1.104260714712675e-15,1.5055250512333236e-16,6.7510107120795595e-15,-4.241389328101934e-15,3.512955093040231e-14,-1.3042235463464586e-08],"joint_position_rad":[-1.7609833132899786,-1.6029901220194913,1.346037643735352,-1.313878448652245,-1.5709037521285194,-0.19010141471698505],"joint_velocity_rad_s":[-0.17317488165153566,-0.0076889013103000475,0.0005365575480283263,0.007375491384901867,-0.0006552609724740056,-0.17168542172735474],"linkage_position_rad":[0.0029334988355840877,0.00015647930910750368,0.0031942996070934222,-0.003428368946232036,0.002933555671404988,0.0001560758463041037,0.0031965974879951007,-0.003438672534004067],"tcp_position_m":[-0.04356529518825464,0.48239284323216813,0.43160387020516056],"tcp_quaternion_wxyz":[3.4773937705474616e-05,0.7071370342627527,0.7070765245641629,4.4442280270560665e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.2085065106986355e-16,-8.742306565980355e-16,-3.16498070777142e-08],"object_linear_velocity_m_s":[1.104260714712675e-15,1.5055250512333236e-16,6.7510107120795595e-15],"object_angular_velocity_rad_s":[-4.241387081611066e-15,3.5129551202032904e-14,-1.3042235463464601e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515749641196,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7949748425484777,-1.6141059126799568,1.3360113201617303,-1.3171937430544245,-1.5709007078074866,-0.22409334758073554,0.0],"actuator_force":[1.2868941436163368,-19.156020796810935,-20.267270166454637,-2.395196339579911,0.06704825776375856,0.17257574086022487,-0.29321517259092844],"issued_joint_targets_rad":[-1.798523826893524,-1.6046261403612683,1.3460388421778797,-1.3122151627106748,-1.5709006954167084,-0.2276410206572449],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.780000000000265,"joint_targets_rad":[-1.798523826893524,-1.6046261403612683,1.3460388421778797,-1.3122151627106748,-1.5709006954167084,-0.2276410206572449],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.800000000000272,"qpos":[-1.7645533615140645,-1.6031490014242162,1.3460375755160996,-1.3137193843706467,-1.5709038716776562,-0.19367124728448268,0.0029334972548710468,0.0001564779772991821,0.00319430176802112,-0.0034283656040878267,0.0029335543438882908,0.0001560772308032151,0.003196610258753741,-0.0034386664898082325,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.0944014025943368e-16,-8.108962616253622e-16,-3.210858281125014e-08],"qvel":[-0.17306334807090482,-0.006968882503756957,-0.00016142743808446685,0.007358275490538253,-0.0006531991059878972,-0.17157351098764853,-1.662168831393976e-05,2.1560617948007814e-05,0.00017103524775500246,0.0001971858390312151,-1.1051233923248481e-05,-2.7836158871117687e-05,-0.00016479428921553656,-0.0001315529965691783,1.0684598108639037e-15,1.4277253988643791e-16,6.792644075503004e-15,-3.2965633986337582e-15,2.2757168846721856e-14,-2.3811828381638443e-08],"joint_position_rad":[-1.7645533615140645,-1.6031490014242162,1.3460375755160996,-1.3137193843706467,-1.5709038716776562,-0.19367124728448268],"joint_velocity_rad_s":[-0.17306334807090482,-0.006968882503756957,-0.00016142743808446685,0.007358275490538253,-0.0006531991059878972,-0.17157351098764853],"linkage_position_rad":[0.0029334972548710468,0.0001564779772991821,0.00319430176802112,-0.0034283656040878267,0.0029335543438882908,0.0001560772308032151,0.003196610258753741,-0.0034386664898082325],"tcp_position_m":[-0.04185887576876282,0.48246349524573817,0.4316619403003547],"tcp_quaternion_wxyz":[3.501451856977401e-05,0.707137110502558,0.707076448314706,4.430278322660815e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0944014025943368e-16,-8.108962616253622e-16,-3.210858281125014e-08],"object_linear_velocity_m_s":[1.0684598108639037e-15,1.4277253988643791e-16,6.792644075503004e-15],"object_angular_velocity_rad_s":[-3.2965618986150286e-15,2.275716906362973e-14,-2.381182838163847e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515598297821,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.7985225674542002,-1.614120237268114,1.3358729673935132,-1.3170374773052396,-1.5709005817968875,-0.22764102282646528,0.0],"actuator_force":[1.2869273480905576,-19.15491868629306,-20.264645269939138,-2.3948740163501725,0.06696485098314042,0.17246332777355633,-0.29321421532678094],"issued_joint_targets_rad":[-1.8020681216626426,-1.6046292316221384,1.3458853715458179,-1.3120591474337966,-1.5709005255779775,-0.2311853742083017],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.800000000000272,"joint_targets_rad":[-1.8020681216626426,-1.6046292316221384,1.3458853715458179,-1.3120591474337966,-1.5709005255779775,-0.2311853742083017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.820000000000278,"qpos":[-1.7681209957095234,-1.6032930113088228,1.3460228720005256,-1.313560614192912,-1.5709039665220008,-0.19723868363818545,0.0029334956632152617,0.00015647663409927202,0.0031943038872232696,-0.003428362256692594,0.0029335530074392686,0.00015607862766334887,0.00319662306725937,-0.0034386604297998867,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.0028126841369821e-16,-7.483013910923071e-16,-3.255347730669876e-08],"qvel":[-0.17294723230229417,-0.006248211228083516,-0.0008599686349989323,0.007341263809262192,-0.0006512181754731552,-0.1714569258755636,-1.6726727462359152e-05,2.144157234249547e-05,0.0001711638308467153,0.00019740272437702636,-1.1108442718689214e-05,-2.767992654650612e-05,-0.00016362451170258082,-0.00013112711252520905,1.1056533762367299e-15,1.4712112033554231e-16,6.799582969406912e-15,-9.010466407711925e-16,5.7394409129884164e-15,-4.347438538929327e-08],"joint_position_rad":[-1.7681209957095234,-1.6032930113088228,1.3460228720005256,-1.313560614192912,-1.5709039665220008,-0.19723868363818545],"joint_velocity_rad_s":[-0.17294723230229417,-0.006248211228083516,-0.0008599686349989323,0.007341263809262192,-0.0006512181754731552,-0.1714569258755636],"linkage_position_rad":[0.0029334956632152617,0.00015647663409927202,0.0031943038872232696,-0.003428362256692594,0.0029335530074392686,0.00015607862766334887,0.00319662306725937,-0.0034386604297998867],"tcp_position_m":[-0.04015243392275309,0.482534239360532,0.43172011972372576],"tcp_quaternion_wxyz":[3.522755174300602e-05,0.7071371804452176,0.7070763783631229,4.4180276519102186e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0028126841369821e-16,-7.483013910923071e-16,-3.255347730669876e-08],"object_linear_velocity_m_s":[1.1056533762367299e-15,1.4712112033554231e-16,6.799582969406912e-15],"object_angular_velocity_rad_s":[-9.01046202029786e-16,5.7394409803721434e-15,-4.3474385389293315e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515446911952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8020669682116761,-1.614119874739737,1.335719868535338,-1.3168814661251806,-1.5709004488795364,-0.23118537637948397,0.0],"actuator_force":[1.286947916612462,-19.154442370595007,-20.262019476375826,-2.3945523470605394,0.06688063877948025,0.17234621690708707,-0.29321325768182127],"issued_joint_targets_rad":[-1.8056090003296243,-1.6046173159672057,1.345717143474697,-1.3119033811536849,-1.5709003492517315,-0.23472631399614596],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.820000000000278,"joint_targets_rad":[-1.8056090003296243,-1.6046173159672057,1.345717143474697,-1.3119033811536849,-1.5709003492517315,-0.23472631399614596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.840000000000285,"qpos":[-1.7716861211299153,-1.6034221383554943,1.345993521602812,-1.3134021338103936,-1.570904038392756,-0.2008036275192377,0.0029334940633572097,0.00015647527965422975,0.0031943059676539255,-0.0034283589065720555,0.0029335516647752175,0.0001560800367059408,0.0031966359154120263,-0.003438654356727301,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,7.88178679071321e-17,-6.235854262024786e-16,-3.289616176912922e-08],"qvel":[-0.17282654773923392,-0.0055269265653004745,-0.001559064266976342,0.007324461881859517,-0.0006493108665370866,-0.17133568754522163,-1.6831902274880527e-05,2.1321142901436962e-05,0.0001712874232124781,0.00019761845212266148,-1.1165461003528817e-05,-2.7522287788618835e-05,-0.00016244946155596,-0.00013070007704877668,1.2069703812876396e-15,1.334146244721442e-16,6.799582969406912e-15,-5.73622902376988e-17,-1.5485001597927558e-14,-7.937324907121812e-08],"joint_position_rad":[-1.7716861211299153,-1.6034221383554943,1.345993521602812,-1.3134021338103936,-1.570904038392756,-0.2008036275192377],"joint_velocity_rad_s":[-0.17282654773923392,-0.0055269265653004745,-0.001559064266976342,0.007324461881859517,-0.0006493108665370866,-0.17133568754522163],"linkage_position_rad":[0.0029334940633572097,0.00015647527965422975,0.0031943059676539255,-0.0034283589065720555,0.0029335516647752175,0.0001560800367059408,0.0031966359154120263,-0.003438654356727301],"tcp_position_m":[-0.03844596931147625,0.48260507625188653,0.43177841013770313],"tcp_quaternion_wxyz":[3.5415611089076374e-05,0.7071372446253352,0.7070763141747798,4.4073013499223294e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.88178679071321e-17,-6.235854262024786e-16,-3.289616176912922e-08],"object_linear_velocity_m_s":[1.2069703812876396e-15,1.334146244721442e-16,6.799582969406912e-15],"object_angular_velocity_rad_s":[-5.736321003993073e-17,-1.5485001581641487e-14,-7.937324907121821e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515295463645,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.805607952754721,-1.6141048196432315,1.3355520123813627,-1.316725704097338,-1.570900309331242,-0.23472631616919826,0.0],"actuator_force":[1.2869558460820372,-19.154591949353744,-20.259392736108566,-2.394231331658034,0.06679561741066209,0.17222442954187045,-0.2932122995902293],"issued_joint_targets_rad":[-1.8091463711767484,-1.6045903879803745,1.3455341460298933,-1.3117478574309402,-1.5709001666869624,-0.238263748293061],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.840000000000285,"joint_targets_rad":[-1.8091463711767484,-1.6045903879803745,1.3455341460298933,-1.3117478574309402,-1.5709001666869624,-0.238263748293061],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.860000000000292,"qpos":[-1.775248643312271,-1.6035363700083327,1.3459495127051664,-1.3132439387140893,-1.5709040888789556,-0.20436598309835763,0.002933492457576059,0.00015647391410955378,0.0031943080118509463,-0.003428355555807907,0.0029335503181534333,0.00015608145775872993,0.0031966488047168863,-0.0034386482728939196,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,5.466431703573275e-17,-4.994870753340087e-16,-3.319724340955304e-08],"qvel":[-0.17270130808209147,-0.0048050653108007,-0.002258716060532617,0.007307879506286021,-0.0006474704538262596,-0.17120981671287325,-1.6937241001362795e-05,2.1199342228549744e-05,0.00017140606459914483,0.00019783307364262717,-1.1222319306585227e-05,-2.7363256526448875e-05,-0.00016126918748473235,-0.00013027185823088382,6.232458997349297e-16,7.114734667854651e-17,6.799582969406912e-15,-2.9783745910358184e-15,2.300267723419573e-14,-8.599441536039819e-09],"joint_position_rad":[-1.775248643312271,-1.6035363700083327,1.3459495127051664,-1.3132439387140893,-1.5709040888789556,-0.20436598309835763],"joint_velocity_rad_s":[-0.17270130808209147,-0.0048050653108007,-0.002258716060532617,0.007307879506286021,-0.0006474704538262596,-0.17120981671287325],"linkage_position_rad":[0.002933492457576059,0.00015647391410955378,0.0031943080118509463,-0.003428355555807907,0.0029335503181534333,0.00015608145775872993,0.0031966488047168863,-0.0034386482728939196],"tcp_position_m":[-0.03673948160300426,0.4826760066138994,0.4318368132753244],"tcp_quaternion_wxyz":[3.558102087814705e-05,0.7071373035258682,0.7070762552666897,4.3979420885117015e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,5.466431703573275e-17,-4.994870753340087e-16,-3.319724340955304e-08],"object_linear_velocity_m_s":[6.232458997349297e-16,7.114734667854651e-17,6.799582969406912e-15],"object_angular_velocity_rad_s":[-2.978373055194245e-15,2.3002677432883522e-14,-8.599441536039829e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515143936278,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8091454293601328,-1.614075066825479,1.3353693869992942,-1.316570184762654,-1.570900163401861,-0.2382637504678994,0.0],"actuator_force":[1.286951137113192,-19.155367509972166,-20.25676498753137,-2.3939109749109093,0.06670978393003679,0.17209798651643382,-0.29321134098493484],"issued_joint_targets_rad":[-1.8126801428390558,-1.6045484425522103,1.345336366527062,-1.3115925687689418,-1.5708999781096376,-0.2417975857242308],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.860000000000292,"joint_targets_rad":[-1.8126801428390558,-1.6045484425522103,1.345336366527062,-1.3115925687689418,-1.5708999781096376,-0.2417975857242308],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.880000000000298,"qpos":[-1.7788084680837537,-1.60363569442924,1.3458908335893454,-1.3130860241125806,-1.5709041194388667,-0.20792565496834886,0.0029334908477755333,0.0001564725376097397,0.003194310022017597,-0.0034283522061154858,0.002933548969456922,0.00015608289065423525,0.003196661736360176,-0.0034386421802371212,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,5.445949691793464e-17,-4.907318360262226e-16,-3.36859527019521e-08],"qvel":[-0.1725715273545468,-0.004082662154396915,-0.0029589290110297374,0.007291530389286443,-0.0006456907561642985,-0.17107933374530707,-1.70427683019451e-05,2.1076183240135535e-05,0.00017151980004787248,0.00019804663749539613,-1.1279044634928847e-05,-2.7202847038337045e-05,-0.0001600837347665775,-0.00012984242826582772,6.183956010128152e-16,6.989439776068504e-17,6.8009707481876935e-15,-1.7271142928276634e-15,1.7730295839251732e-14,-1.5700408615357276e-08],"joint_position_rad":[-1.7788084680837537,-1.60363569442924,1.3458908335893454,-1.3130860241125806,-1.5709041194388667,-0.20792565496834886],"joint_velocity_rad_s":[-0.1725715273545468,-0.004082662154396915,-0.0029589290110297374,0.007291530389286443,-0.0006456907561642985,-0.17107933374530707],"linkage_position_rad":[0.0029334908477755333,0.0001564725376097397,0.003194310022017597,-0.0034283522061154858,0.002933548969456922,0.00015608289065423525,0.003196661736360176,-0.0034386421802371212],"tcp_position_m":[-0.035032970472592025,0.4827470311608646,0.4318953309432526],"tcp_quaternion_wxyz":[3.572587976146055e-05,0.7071373575831292,0.7070762012025076,4.3898081940016674e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,5.445949691793464e-17,-4.907318360262226e-16,-3.36859527019521e-08],"object_linear_velocity_m_s":[6.183956010128152e-16,6.989439776068504e-17,6.8009707481876935e-15],"object_angular_velocity_rad_s":[-1.7271130828944666e-15,1.7730295957320767e-14,-1.5700408615357292e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351499231581,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.812679306657728,-1.6140306114238225,1.335171979708481,-1.3164149006066486,-1.5709000113178506,-0.24179758790077854,0.0],"actuator_force":[1.286933793870503,-19.156769127406733,-20.254136157317134,-2.393591285962657,0.06662313612446269,0.17196690831585215,-0.2932103817969384],"issued_joint_targets_rad":[-1.8162102243141973,-1.604491474870397,1.3451237915083656,-1.3114375065997215,-1.570899783724971,-0.24532773527755133],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.880000000000298,"joint_targets_rad":[-1.8162102243141973,-1.604491474870397,1.3451237915083656,-1.3114375065997215,-1.570899783724971,-0.24532773527755133],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.900000000000305,"qpos":[-1.782365501568607,-1.603720100457165,1.3458174723724468,-1.3129283848564839,-1.5709041314105279,-0.21148254813827325,0.002933489235554812,0.00015647115029859756,0.0031943120000915955,-0.003428348858908664,0.0029335476202651976,0.0001560843352296854,0.0031966747112774185,-0.0034386360803958273,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,4.8728276805364543e-17,-4.3959887755790815e-16,-3.411718228037144e-08],"qvel":[-0.17243721991759983,-0.003359749840568512,-0.0036597111795278487,0.007275431836154616,-0.0006439660948129764,-0.17094425873883828,-1.714850598182119e-05,2.095167901579057e-05,0.0001716286790302067,0.00019825918966480624,-1.1335661181235603e-05,-2.704107389790927e-05,-0.00015889314583758364,-0.0001294117606031822,5.952742142891717e-16,6.73874359509745e-17,6.799582969406912e-15,-1.2838240795656785e-15,1.0421878456960597e-14,-2.8664981284671908e-08],"joint_position_rad":[-1.782365501568607,-1.603720100457165,1.3458174723724468,-1.3129283848564839,-1.5709041314105279,-0.21148254813827325],"joint_velocity_rad_s":[-0.17243721991759983,-0.003359749840568512,-0.0036597111795278487,0.007275431836154616,-0.0006439660948129764,-0.17094425873883828],"linkage_position_rad":[0.002933489235554812,0.00015647115029859756,0.0031943120000915955,-0.003428348858908664,0.0029335476202651976,0.0001560843352296854,0.0031966747112774185,-0.0034386360803958273],"tcp_position_m":[-0.033326435603047155,0.4828181506287935,0.43195396502504396],"tcp_quaternion_wxyz":[3.5852082451524905e-05,0.7071374071913015,0.7070761515880177,4.382772129075019e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.8728276805364543e-17,-4.3959887755790815e-16,-3.411718228037144e-08],"object_linear_velocity_m_s":[5.952742142891717e-16,6.73874359509745e-17,6.799582969406912e-15],"object_angular_velocity_rad_s":[-1.283823343233236e-15,1.0421878547355095e-14,-2.866498128467194e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514840590197,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8162094936401698,-1.613971448857288,1.3349597770562505,-1.3162598430451142,-1.5708998532845753,-0.24532773745573794,0.0],"actuator_force":[1.2869038239145993,-19.15879686401877,-20.251506160581357,-2.3932722779305777,0.06653567245757586,0.17183121515147093,-0.2932094219551852],"issued_joint_targets_rad":[-1.8197365249720572,-1.6044194804094338,1.3448964067168248,-1.3112826612687312,-1.570899583719477,-0.24885410631322286],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.900000000000305,"joint_targets_rad":[-1.8197365249720572,-1.6044194804094338,1.3448964067168248,-1.3112826612687312,-1.570899583719477,-0.24885410631322286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.920000000000312,"qpos":[-1.7859196501953492,-1.6037895775703184,1.3457294169463974,-1.3127710153686796,-1.5709041260214691,-0.21503656802910448,0.0029334876222666347,0.0001564697523197622,0.0031943139477997365,-0.0034283455153635936,0.002933546271912241,0.00015608579132593583,0.0031966877302040918,-0.0034386299747684065,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.163302737160038e-17,-3.841540768191139e-16,-3.4525955726325885e-08],"qvel":[-0.17229840048128645,-0.002636359309628988,-0.004361073517676895,0.007259604475248382,-0.0006422912547561091,-0.17080461158971255,-1.7254473605068853e-05,2.0825842841923405e-05,0.00017173275495229167,0.00019847077517552798,-1.1392190939861473e-05,-2.6877952022518518e-05,-0.0001576974608333245,-0.00012897983135752664,5.994997312893486e-16,-4.104913048973728e-18,6.805134084530038e-15,-4.934808797486015e-15,6.66705921517868e-16,-5.2335017016486676e-08],"joint_position_rad":[-1.7859196501953492,-1.6037895775703184,1.3457294169463974,-1.3127710153686796,-1.5709041260214691,-0.21503656802910448],"joint_velocity_rad_s":[-0.17229840048128645,-0.002636359309628988,-0.004361073517676895,0.007259604475248382,-0.0006422912547561091,-0.17080461158971255],"linkage_position_rad":[0.0029334876222666347,0.0001564697523197622,0.0031943139477997365,-0.0034283455153635936,0.002933546271912241,0.00015608579132593583,0.0031966877302040918,-0.0034386299747684065],"tcp_position_m":[-0.03161987668510709,0.48288936577702163,0.432012717484674],"tcp_quaternion_wxyz":[3.596133932178754e-05,0.7071374527065208,0.7070761060670536,4.376719121817574e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.163302737160038e-17,-3.841540768191139e-16,-3.4525955726325885e-08],"object_linear_velocity_m_s":[5.994997312893486e-16,-4.104913048973728e-18,6.805134084530038e-15],"object_angular_velocity_rad_s":[-4.93480871123927e-15,6.667062634934753e-16,-5.2335017016486736e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514688748979,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8197358996725705,-1.613897574816991,1.3347327647923666,-1.3161050024087242,-1.5708996894883898,-0.2488541084929836,0.0],"actuator_force":[1.2868612380716513,-19.161450769493513,-20.248874900990813,-2.3929539675471005,0.06644739201533412,0.17169092703170463,-0.29320846138621914],"issued_joint_targets_rad":[-1.823258954564098,-1.6043324549195193,1.3446541970686396,-1.3111280220184063,-1.5708993782628207,-0.25237660857306554],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.920000000000312,"joint_targets_rad":[-1.823258954564098,-1.6043324549195193,1.3446541970686396,-1.3111280220184063,-1.5708993782628207,-0.25237660857306554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.940000000000318,"qpos":[-1.7894708207041614,-1.6038441158509886,1.3456266549205744,-1.312613909579654,-1.5709041043976855,-0.21858762047069558,0.0029334860090652597,0.00015646834381656877,0.0031943158667043455,-0.00342834217645811,0.0029335449255344223,0.00015608725878743336,0.0031967007937226412,-0.003438623864554941,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,-4.977254131487134e-19,-3.187303216336994e-16,-3.48757622170694e-08],"qvel":[-0.17215508411406702,-0.001912519821406277,-0.005063029718607334,0.007244072014366476,-0.0006406614487132229,-0.1706604120564756,-1.7360688953422442e-05,2.0698688265675624e-05,0.00017183208485118352,0.0001986814381798587,-1.1448654148547958e-05,-2.6713496585077935e-05,-0.00015649671753127027,-0.000128546616344767,6.705904721578666e-16,4.783395789142864e-17,6.805134084530039e-15,3.3454341518817457e-15,-1.1610643759955492e-14,-9.55505248343052e-08],"joint_position_rad":[-1.7894708207041614,-1.6038441158509886,1.3456266549205744,-1.312613909579654,-1.5709041043976855,-0.21858762047069558],"joint_velocity_rad_s":[-0.17215508411406702,-0.001912519821406277,-0.005063029718607334,0.007244072014366476,-0.0006406614487132229,-0.1706604120564756],"linkage_position_rad":[0.0029334860090652597,0.00015646834381656877,0.0031943158667043455,-0.00342834217645811,0.0029335449255344223,0.00015608725878743336,0.0031967007937226412,-0.003438623864554941],"tcp_position_m":[-0.029913293417826493,0.48296067738991083,0.43207159037035214],"tcp_quaternion_wxyz":[3.605519413085431e-05,0.7071374944505582,0.7070760643178129,4.371545928558764e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,-4.977254131487134e-19,-3.187303216336994e-16,-3.48757622170694e-08],"object_linear_velocity_m_s":[6.705904721578666e-16,4.783395789142864e-17,6.805134084530039e-15],"object_angular_velocity_rad_s":[3.3454334029313387e-15,-1.1610643993399728e-14,-9.555052483430531e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514536782803,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8232584345018203,-1.6138089852556747,1.3344909278414503,-1.315950367926452,-1.5708995200985179,-0.25237661075434076,0.0],"actuator_force":[1.2868060503092238,-19.164730880809657,-20.24624227080585,-2.392636374835547,0.06635829445508534,0.1715460638249766,-0.29320750001447426],"issued_joint_targets_rad":[-1.8267774232323988,-1.6042303944145335,1.3443971466233018,-1.3109735769704174,-1.5708991675094914,-0.25589515218953174],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.940000000000318,"joint_targets_rad":[-1.8267774232323988,-1.6042303944145335,1.3443971466233018,-1.3109735769704174,-1.5708991675094914,-0.25589515218953174],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.960000000000325,"qpos":[-1.793018920154432,-1.6038837059526148,1.3455091735670612,-1.31245706086734,-1.5709040675719061,-0.22213561169990434,0.002933484396945887,0.00015646692493238406,0.003194317758239654,-0.0034283388430107094,0.002933543582109781,0.00015608873746138227,0.003196713902295144,-0.00343861775080148,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.1185476821123847e-17,-2.657514674776561e-16,-3.5238208117887406e-08],"qvel":[-0.17200728624994524,-0.0011882590627711027,-0.005765596092191222,0.007228861026457283,-0.0006390722838364715,-0.17051167981496151,-1.7467168499213176e-05,2.0570228924538334e-05,0.00017192672862258166,0.00019889122213196774,-1.1505069743063591e-05,-2.65477229733324e-05,-0.00015529095182141816,-0.00012811209251569893,3.347065715702184e-16,1.2648456725520593e-17,6.9508508565120905e-15,3.3575573802999747e-16,1.1823388363807881e-14,-1.0352116886550362e-08],"joint_position_rad":[-1.793018920154432,-1.6038837059526148,1.3455091735670612,-1.31245706086734,-1.5709040675719061,-0.22213561169990434],"joint_velocity_rad_s":[-0.17200728624994524,-0.0011882590627711027,-0.005765596092191222,0.007228861026457283,-0.0006390722838364715,-0.17051167981496151],"linkage_position_rad":[0.002933484396945887,0.00015646692493238406,0.003194317758239654,-0.0034283388430107094,0.002933543582109781,0.00015608873746138227,0.003196713902295144,-0.00343861775080148],"tcp_position_m":[-0.028206685508974674,0.4830320862786632,0.4321305858186333],"tcp_quaternion_wxyz":[3.613504004424387e-05,0.7071375327141497,0.7070760260495298,4.36715971647631e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1185476821123847e-17,-2.657514674776561e-16,-3.5238208117887406e-08],"object_linear_velocity_m_s":[3.347065715702184e-16,1.2648456725520593e-17,6.9508508565120905e-15],"object_angular_velocity_rad_s":[3.3575657680221726e-16,1.1823388340376592e-14,-1.0352116886550376e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514384683196,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8267770082656092,-1.6137056763763054,1.3342342502731859,-1.3157959277076925,-1.5708993452687534,-0.2558951543722663,0.0],"actuator_force":[1.2867382776239538,-19.168637222272537,-20.24360815087448,-2.3923195228219356,0.06626837995997903,0.17139664531518406,-0.2932065377615721],"issued_joint_targets_rad":[-1.8302918415183564,-1.6041132951590567,1.3441252385513045,-1.3108193131064974,-1.5708989516003078,-0.2594096476943838],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.960000000000325,"joint_targets_rad":[-1.8302918415183564,-1.6041132951590567,1.3441252385513045,-1.3108193131064974,-1.5708989516003078,-0.2594096476943838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.980000000000332,"qpos":[-1.7965638559323975,-1.6039083390688142,1.3453769597680543,-1.3123004620008847,-1.5709040164912234,-0.22568044835973594,0.002933482786777314,0.00015646549581069063,0.0031943196237423552,-0.0034283355157156835,0.0029335422424906386,0.00015609022719730725,0.003196727056293265,-0.0034386116344258047,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,6.288731044372595e-17,-2.281548741735087e-16,-3.570203514226761e-08],"qvel":[-0.1718550226934531,-0.0004636032402450597,-0.006468791463247257,0.007214000762317245,-0.0006375197307559067,-0.17035843450645485,-1.7573927759613254e-05,2.0440478593015313e-05,0.0001720167488004771,0.0001991001700988248,-1.1561455711132634e-05,-2.6380646870547373e-05,-0.00015408019789529148,-0.00012767623734872261,2.982200660290664e-16,7.681717089091447e-17,6.967504201881469e-15,3.608458286315601e-16,8.673800727767312e-15,-1.890035119973994e-08],"joint_position_rad":[-1.7965638559323975,-1.6039083390688142,1.3453769597680543,-1.3123004620008847,-1.5709040164912234,-0.22568044835973594],"joint_velocity_rad_s":[-0.1718550226934531,-0.0004636032402450597,-0.006468791463247257,0.007214000762317245,-0.0006375197307559067,-0.17035843450645485],"linkage_position_rad":[0.002933482786777314,0.00015646549581069063,0.0031943196237423552,-0.0034283355157156835,0.0029335422424906386,0.00015609022719730725,0.003196727056293265,-0.0034386116344258047],"tcp_position_m":[-0.026500052675449914,0.48310359328324665,0.4321897060588574],"tcp_quaternion_wxyz":[3.620213412368817e-05,0.7071375677600011,0.7070759909994695,4.36347705546737e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,6.288731044372595e-17,-2.281548741735087e-16,-3.570203514226761e-08],"object_linear_velocity_m_s":[2.982200660290664e-16,7.681717089091447e-17,6.967504201881469e-15],"object_angular_velocity_rad_s":[3.60846456600651e-16,8.673800704378624e-15,-1.8900351199739967e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351423244227,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8302915315011155,-1.6135876446196618,1.3339627152701223,-1.3156416687229713,-1.5708991651389892,-0.2594096498785266,0.0],"actuator_force":[1.2866579399451439,-19.1731698055969,-20.240972410565064,-2.3920034372749797,0.06617764919258207,0.17124269125017122,-0.2932055745460439],"issued_joint_targets_rad":[-1.833802120370995,-1.6039811536543267,1.343838455099233,-1.3106652162477124,-1.5708987306637776,-0.262920006026988],"issued_gripper_0_255":0.0,"command":{"t_seconds":5.980000000000332,"joint_targets_rad":[-1.833802120370995,-1.6039811536543267,1.343838455099233,-1.3106652162477124,-1.5708987306637776,-0.262920006026988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.000000000000338,"qpos":[-1.8001055357588476,-1.603918006904061,1.3452299999649682,-1.3121441050878226,-1.5709039520241157,-0.22922203749936704,0.002933481179329167,0.00015646405659542294,0.0031943214644777392,-0.003428332195166152,0.0029335409074307626,0.0001560917278470454,0.003196740256024286,-0.0034386055162447496,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.1547184528460856e-16,-1.9419209690804587e-16,-3.6159575431121646e-08],"qvel":[-0.17169830962237764,0.0002614228412808173,-0.007172637091459986,0.007199522988334084,-0.0006360000949665214,-0.1702006957794609,-1.7680981581302774e-05,2.0309451159898687e-05,0.00017210221047563517,0.00019930832611910837,-1.1617829357671624e-05,-2.6212284209304632e-05,-0.00015286448845901874,-0.00012723902777335154,2.708061645341357e-16,1.6491448893448955e-16,6.975830874566159e-15,2.2324420131662255e-15,4.361725165464197e-15,-3.4507268357607965e-08],"joint_position_rad":[-1.8001055357588476,-1.603918006904061,1.3452299999649682,-1.3121441050878226,-1.5709039520241157,-0.22922203749936704],"joint_velocity_rad_s":[-0.17169830962237764,0.0002614228412808173,-0.007172637091459986,0.007199522988334084,-0.0006360000949665214,-0.1702006957794609],"linkage_position_rad":[0.002933481179329167,0.00015646405659542294,0.0031943214644777392,-0.003428332195166152,0.0029335409074307626,0.0001560917278470454,0.003196740256024286,-0.0034386055162447496],"tcp_position_m":[-0.024793394643708933,0.4831751992744512,0.4322489534179368],"tcp_quaternion_wxyz":[3.6257610425823924e-05,0.707137599825503,0.7070759589302149,4.36042300734487e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1547184528460856e-16,-1.9419209690804587e-16,-3.6159575431121646e-08],"object_linear_velocity_m_s":[2.708061645341357e-16,1.6491448893448955e-16,6.975830874566159e-15],"object_angular_velocity_rad_s":[2.2324423420045603e-15,4.3617250119851165e-15,-3.450726835760801e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514080052523,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8338019151533023,-1.6134548866508318,1.3336763050928528,-1.3154875767831093,-1.5708989798366002,-0.2629200082124916,0.0],"actuator_force":[1.2865650600415393,-19.17832863005424,-20.23833490764673,-2.3916881464766675,0.06608610325440623,0.17108422138380774,-0.29320461028330164],"issued_joint_targets_rad":[-1.8373081711548553,-1.6038339666230441,1.3435367775519835,-1.3105112710320177,-1.5708985048173223,-0.2664261385421822],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.000000000000338,"joint_targets_rad":[-1.8373081711548553,-1.6038339666230441,1.3435367775519835,-1.3105112710320177,-1.5708985048173223,-0.2664261385421822],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.020000000000345,"qpos":[-1.803643867696845,-1.603912701645752,1.3450682801087988,-1.311987981524164,-1.5709038749669242,-0.2327602865749281,0.002933479575294249,0.0001564626074306176,0.003194323281660582,-0.0034283288818745044,0.002933539577607667,0.0001560932392641984,0.003196753501749361,-0.0034385993969970174,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.281179922878708e-16,-1.4477223338560392e-16,-3.652944139920549e-08],"qvel":[-0.17153716358835355,0.0009867957127818001,-0.007877156612130273,0.007185461847561383,-0.0006345099902803015,-0.17003848332549398,-1.7788344381913035e-05,2.0177160595803966e-05,0.0001721831809128217,0.0001995157339391715,-1.1674207527715277e-05,-2.6042650981820074e-05,-0.00015164385394497736,-0.00012680043966574055,2.2658951729652145e-16,2.291171678975841e-16,6.978606432127721e-15,4.7003193493126126e-15,2.4554209148443516e-15,-6.300155785043993e-08],"joint_position_rad":[-1.803643867696845,-1.603912701645752,1.3450682801087988,-1.311987981524164,-1.5709038749669242,-0.2327602865749281],"joint_velocity_rad_s":[-0.17153716358835355,0.0009867957127818001,-0.007877156612130273,0.007185461847561383,-0.0006345099902803015,-0.17003848332549398],"linkage_position_rad":[0.002933479575294249,0.0001564626074306176,0.003194323281660582,-0.0034283288818745044,0.002933539577607667,0.0001560932392641984,0.003196753501749361,-0.0034385993969970174],"tcp_position_m":[-0.023086711150212064,0.4832469051560873,0.43230833032552657],"tcp_quaternion_wxyz":[3.6302491847115755e-05,0.7071376291251833,0.7070759296272132,4.3579303042956184e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.281179922878708e-16,-1.4477223338560392e-16,-3.652944139920549e-08],"object_linear_velocity_m_s":[2.2658951729652145e-16,2.291171678975841e-16,6.978606432127721e-15],"object_angular_velocity_rad_s":[4.700319546944668e-15,2.4554205875875334e-15,-6.300155785044001e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513927506663,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8373080705827967,-1.6133073993445275,1.3333750010423175,-1.3153336365166834,-1.5708987894776885,-0.26642614072900234,0.0],"actuator_force":[1.286459663437654,-19.184113682663792,-20.235695488110196,-2.3913736810159207,0.06599374364589039,0.17092125551229742,-0.2932036448855477],"issued_joint_targets_rad":[-1.8408099056574139,-1.6036717309929198,1.3432201861918345,-1.3103574608899344,-1.5708982741683806,-0.26992795701768496],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.020000000000345,"joint_targets_rad":[-1.8408099056574139,-1.6036717309929198,1.3432201861918345,-1.3103574608899344,-1.5708982741683806,-0.26992795701768496],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.040000000000352,"qpos":[-1.8071787601594103,-1.6038924159374017,1.34489178561133,-1.3118320819469353,-1.570903786049806,-0.2362951034509276,0.0029334779753076383,0.00015646114846106505,0.0031943250764724144,-0.0034283255762964002,0.0029335382536416423,0.00015609476130390922,0.003196766793701286,-0.0034385932773609604,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.1971517101041307e-16,-1.0056478137858977e-16,-3.6822520931042996e-08],"qvel":[-0.17137160151527778,0.0017124931875489291,-0.008582375997011294,0.007171853742672809,-0.0006330463143126157,-0.16987181690930514,-1.789603044149702e-05,2.0043620873540986e-05,0.00017225972923401523,0.00019972243869011703,-1.1730606896520916e-05,-2.5871763520692973e-05,-0.00015041832375048663,-0.00012636044905468805,2.4036395545238195e-16,4.0690654467148003e-16,6.975830874566158e-15,1.8052043576544916e-14,-3.923115595608315e-15,-1.150249347600684e-07],"joint_position_rad":[-1.8071787601594103,-1.6038924159374017,1.34489178561133,-1.3118320819469353,-1.570903786049806,-0.2362951034509276],"joint_velocity_rad_s":[-0.17137160151527778,0.0017124931875489291,-0.008582375997011294,0.007171853742672809,-0.0006330463143126157,-0.16987181690930514],"linkage_position_rad":[0.0029334779753076383,0.00015646114846106505,0.0031943250764724144,-0.0034283255762964002,0.0029335382536416423,0.00015609476130390922,0.003196766793701286,-0.0034385932773609604],"tcp_position_m":[-0.02138000194189608,0.4833187118673355,0.43236783931960165],"tcp_quaternion_wxyz":[3.6337700832961246e-05,0.7071376558529192,0.7070759028965625,4.3559386063296905e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1971517101041307e-16,-1.0056478137858977e-16,-3.6822520931042996e-08],"object_linear_velocity_m_s":[2.4036395545238195e-16,4.0690654467148003e-16,6.975830874566158e-15],"object_angular_velocity_rad_s":[1.8052043310761793e-14,-3.9231168975113556e-15,-1.1502493476006856e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351377479745,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8408099095733004,-1.6131451797691176,1.3330587834189607,-1.3151798313456167,-1.570898594168208,-0.2699279592057801,0.0],"actuator_force":[1.286341778331007,-19.190524938451745,-20.23305398593402,-2.391060073607946,0.06590057223024814,0.17075381350426255,-0.29320267826077395],"issued_joint_targets_rad":[-1.8443072360959851,-1.6034944438788339,1.3428886602540528,-1.3102037680181478,-1.5708980388153988,-0.2734253736609885],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.040000000000352,"joint_targets_rad":[-1.8443072360959851,-1.6034944438788339,1.3428886602540528,-1.3102037680181478,-1.5708980388153988,-0.2734253736609885],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.060000000000358,"qpos":[-1.8107101219171349,-1.6038571428527215,1.3447005012967705,-1.3116763961887428,-1.5709036859422256,-0.23982639640220693,0.0029334763799625054,0.00015645967983182486,0.0031943268500751716,-0.0034283222788392856,0.0029335369361115694,0.00015609629382283254,0.0031967801320982366,-0.003438587157972954,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.4438365367587606e-16,-8.474304382895534e-17,-3.725883790751112e-08],"qvel":[-0.17120164069554902,0.00243849431921635,-0.009288323534787186,0.0071587372395600125,-0.0006316062257094333,-0.16970071639382778,-1.8004054025141866e-05,1.9908846022319143e-05,0.0001723319265004036,0.00019992848620355294,-1.1787044064405105e-05,-2.5699638193011366e-05,-0.00014918792496822276,-0.0001259190299400028,1.0813865732914589e-16,1.739855521442088e-16,6.9744430957853765e-15,-4.3828607824224856e-15,3.7110451973011786e-15,-1.2462009722803132e-08],"joint_position_rad":[-1.8107101219171349,-1.6038571428527215,1.3447005012967705,-1.3116763961887428,-1.5709036859422256,-0.23982639640220693],"joint_velocity_rad_s":[-0.17120164069554902,0.00243849431921635,-0.009288323534787186,0.0071587372395600125,-0.0006316062257094333,-0.16970071639382778],"linkage_position_rad":[0.0029334763799625054,0.00015645967983182486,0.0031943268500751716,-0.0034283222788392856,0.0029335369361115694,0.00015609629382283254,0.0031967801320982366,-0.003438587157972954],"tcp_position_m":[-0.019673266776663582,0.48339062038527036,0.4324274830524873],"tcp_quaternion_wxyz":[3.636406906193378e-05,0.7071376801839394,0.7070758785630126,4.3543938315973897e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.4438365367587606e-16,-8.474304382895534e-17,-3.725883790751112e-08],"object_linear_velocity_m_s":[1.0813865732914589e-16,1.739855521442088e-16,6.9744430957853765e-15],"object_angular_velocity_rad_s":[-4.382860503771879e-15,3.711045527500393e-15,-1.2462009722803148e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513621917627,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.844307344338483,-1.6129682251692552,1.3327276314784189,-1.3150261434586976,-1.5708983940049719,-0.2734253758503198,0.0],"actuator_force":[1.2862114355234553,-19.197562360753636,-20.230410222788578,-2.3907473589333677,0.06580659119788379,0.17058191532635192,-0.293201710313256],"issued_joint_targets_rad":[-1.8478000751240566,-1.6033021025634888,1.3425421778786903,-1.3100501733508165,-1.570897798848726,-0.27691830111568116],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.060000000000358,"joint_targets_rad":[-1.8478000751240566,-1.6033021025634888,1.3425421778786903,-1.3100501733508165,-1.570897798848726,-0.27691830111568116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.080000000000365,"qpos":[-1.814237862105672,-1.6038068758703556,1.3444944113534198,-1.3115209132339463,-1.5709035752579965,-0.24335407411632204,0.0029334747898237833,0.0001564582016886575,0.0031943286036261076,-0.0034283189898800664,0.002933535625568528,0.00015609783667877596,0.003196793517156817,-0.003438581039432248,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.7204101046866956e-16,-7.379952957440983e-17,-3.769720352879794e-08],"qvel":[-0.17102729878406184,0.0031647793708462985,-0.009995029830899615,0.00714615299061334,-0.0006301871231724212,-0.16952520176007907,-1.8112429621726614e-05,1.9772849991797114e-05,0.00017239984542675928,0.00020013392368304557,-1.1843535787845138e-05,-2.552629158613979e-05,-0.0001479526832185864,-0.00012547615540852743,9.768838945230436e-17,2.2164754393943347e-16,6.9758308745661575e-15,-2.8150002420885386e-15,2.32784850122295e-15,-2.275248270443716e-08],"joint_position_rad":[-1.814237862105672,-1.6038068758703556,1.3444944113534198,-1.3115209132339463,-1.5709035752579965,-0.24335407411632204],"joint_velocity_rad_s":[-0.17102729878406184,0.0031647793708462985,-0.009995029830899615,0.00714615299061334,-0.0006301871231724212,-0.16952520176007907],"linkage_position_rad":[0.0029334747898237833,0.0001564582016886575,0.0031943286036261076,-0.0034283189898800664,0.002933535625568528,0.00015609783667877596,0.003196793517156817,-0.003438581039432248],"tcp_position_m":[-0.01796650542390459,0.4834626317275676,0.4324872642973763],"tcp_quaternion_wxyz":[3.638234620081279e-05,0.7071377022766279,0.7070758564681578,4.353247551341027e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.7204101046866956e-16,-7.379952957440983e-17,-3.769720352879794e-08],"object_linear_velocity_m_s":[9.768838945230436e-17,2.2164754393943347e-16,6.9758308745661575e-15],"object_angular_velocity_rad_s":[-2.815000063223532e-15,2.327848721286941e-15,-2.275248270443719e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513468859724,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8478002875283108,-1.612776532946981,1.3323815233834004,-1.3148725537828203,-1.5708981890765656,-0.27691830330621187,0.0],"actuator_force":[1.286068668347525,-19.205225901589074,-20.227764007678616,-2.39043557349828,0.06571180303262736,0.17040558106299386,-0.29320074094256776],"issued_joint_targets_rad":[-1.851288335836993,-1.6030947044763877,1.3421807160581476,-1.3098966565283265,-1.5708975543514134,-0.2804066524671468],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.080000000000365,"joint_targets_rad":[-1.851288335836993,-1.6030947044763877,1.3421807160581476,-1.3098966565283265,-1.5708975543514134,-0.2804066524671468],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.100000000000372,"qpos":[-1.817761890233058,-1.603741608849043,1.3442734992849532,-1.3113656211760416,-1.5709034545599212,-0.246878045696252,0.002933473205439856,0.00015645671417787452,0.003194330338286032,-0.003428315709775917,0.0029335343225474733,0.00015609938973071104,0.003196806949101241,-0.0034385749223196957,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.677959015014646e-16,-6.091145520563424e-17,-3.8122305463464986e-08],"qvel":[-0.17084859378994324,0.0038913297947076354,-0.010702527826783994,0.00713414367697416,-0.0006287866260161698,-0.16934529312226831,-1.8221172054552562e-05,1.9635646710863075e-05,0.0001724635603681198,0.00020033880008602615,-1.1900099067941335e-05,-2.5351740281730445e-05,-0.00014671262152973291,-0.0001250317963332176,8.643646504630418e-17,2.4173069922193964e-16,7.007749786524131e-15,-1.053635283618015e-15,1.2280953160995972e-15,-4.154028770082579e-08],"joint_position_rad":[-1.817761890233058,-1.603741608849043,1.3442734992849532,-1.3113656211760416,-1.5709034545599212,-0.246878045696252],"joint_velocity_rad_s":[-0.17084859378994324,0.0038913297947076354,-0.010702527826783994,0.00713414367697416,-0.0006287866260161698,-0.16934529312226831],"linkage_position_rad":[0.002933473205439856,0.00015645671417787452,0.003194330338286032,-0.003428315709775917,0.0029335343225474733,0.00015609938973071104,0.003196806949101241,-0.0034385749223196957],"tcp_position_m":[-0.0162597176650461,0.48353474695542253,0.4325471859553792],"tcp_quaternion_wxyz":[3.639320782086099e-05,0.7071377222741562,0.7070758364688081,4.352456443533299e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.677959015014646e-16,-6.091145520563424e-17,-3.8122305463464986e-08],"object_linear_velocity_m_s":[8.643646504630418e-17,2.4173069922193964e-16,7.007749786524131e-15],"object_angular_velocity_rad_s":[-1.0536351849218047e-15,1.2280954103741875e-15,-4.154028770082586e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513315616069,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.851288652234746,-1.6125701006411421,1.3320204361513328,-1.314719041951673,-1.5708979794641618,-0.28040665465884207,0.0],"actuator_force":[1.2859135126009278,-19.21351550208101,-20.225115136527165,-2.3901247555130567,0.06561621048126653,0.17022483093180085,-0.293199770043754],"issued_joint_targets_rad":[-1.854771931777056,-1.602872247170981,1.341804250580074,-1.3097431958632244,-1.5708973053999347,-0.2838903412475812],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.100000000000372,"joint_targets_rad":[-1.854771931777056,-1.602872247170981,1.341804250580074,-1.3097431958632244,-1.5708973053999347,-0.2838903412475812],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1200000000003785,"qpos":[-1.8212821161868142,-1.6036613360029934,1.3440377478609238,-1.311210507175867,-1.5709033243640618,-0.2503982206633381,0.0029334716273528363,0.00015645521744630633,0.0031943320552297876,-0.0034283124388736963,0.0029335330275775096,0.00015610095283880544,0.003196820428175218,-0.003438568807207492,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.4393592405176996e-16,-5.0593475395841586e-17,-3.850538015795328e-08],"qvel":[-0.17066554406594578,0.004618128222484269,-0.011410852838701427,0.007122753969133789,-0.0006274025561908135,-0.16916101073829057,-1.8330296680248696e-05,1.9497249956799263e-05,0.00017252314706128278,0.00020054316566820552,-1.1956751331817632e-05,-2.5176001018852223e-05,-0.00014546776099306238,-0.00012458592171507642,9.248939147747892e-17,2.512227348051681e-16,1.1093370517144707e-14,1.8514942450035188e-15,-1.2285380224729979e-15,-7.584207511132484e-08],"joint_position_rad":[-1.8212821161868142,-1.6036613360029934,1.3440377478609238,-1.311210507175867,-1.5709033243640618,-0.2503982206633381],"joint_velocity_rad_s":[-0.17066554406594578,0.004618128222484269,-0.011410852838701427,0.007122753969133789,-0.0006274025561908135,-0.16916101073829057],"linkage_position_rad":[0.0029334716273528363,0.00015645521744630633,0.0031943320552297876,-0.0034283124388736963,0.0029335330275775096,0.00015610095283880544,0.003196820428175218,-0.003438568807207492],"tcp_position_m":[-0.014552903294137172,0.483606967176691,0.4326072510631685],"tcp_quaternion_wxyz":[3.63972625575004e-05,0.7071377403059536,0.7070758184355157,4.351981799683599e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.4393592405176996e-16,-5.0593475395841586e-17,-3.850538015795328e-08],"object_linear_velocity_m_s":[9.248939147747892e-17,2.512227348051681e-16,1.1093370517144707e-14],"object_angular_velocity_rad_s":[1.851494158067098e-15,-1.2285381432251777e-15,-7.584207511132496e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513162178641,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8547723519967616,-1.6123489259049735,1.3316443455973463,-1.314565586271616,-1.570897765242256,-0.2838903434404079,0.0],"actuator_force":[1.2857460064833504,-19.222431092953684,-20.22246339167441,-2.3898149447877586,0.06551981652205541,0.17003968529414237,-0.293198797506457],"issued_joint_targets_rad":[-1.8582507769376628,-1.6026347282997755,1.3414127559650684,-1.309589768302995,-1.5708970520648295,-0.2873692814402482],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.1200000000003785,"joint_targets_rad":[-1.8582507769376628,-1.6026347282997755,1.3414127559650684,-1.309589768302995,-1.5708970520648295,-0.2873692814402482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.140000000000385,"qpos":[-1.8247984502407864,-1.603566051877258,1.3437871390660594,-1.3110555574202534,-1.570903185143658,-0.2539145089603599,0.0029334700561077167,0.00015645371164144502,0.0031943337556543617,-0.0034283091775187714,0.002933531741190997,0.00015610252586399095,0.003196833954647621,-0.003438562694662902,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.0987925592158605e-16,-4.052471280783523e-17,-3.879306721442208e-08],"qvel":[-0.17047816829537285,0.005345158465820271,-0.012120042616697572,0.007112030505690747,-0.0006260329216931857,-0.1689723750156865,-1.843981952707686e-05,1.93576733754342e-05,0.00017257868280543416,0.00020074707327110759,-1.2013510556162699e-05,-2.4999090611190208e-05,-0.00014421812036636482,-0.0001241384991088587,4.9358905464907676e-17,1.370956254082077e-16,6.674682879136586e-15,-5.4400252760053435e-15,1.9153169674476467e-15,-8.216867754857706e-09],"joint_position_rad":[-1.8247984502407864,-1.603566051877258,1.3437871390660594,-1.3110555574202534,-1.570903185143658,-0.2539145089603599],"joint_velocity_rad_s":[-0.17047816829537285,0.005345158465820271,-0.012120042616697572,0.007112030505690747,-0.0006260329216931857,-0.1689723750156865],"linkage_position_rad":[0.0029334700561077167,0.00015645371164144502,0.0031943337556543617,-0.0034283091775187714,0.002933531741190997,0.00015610252586399095,0.003196833954647621,-0.003438562694662902],"tcp_position_m":[-0.012846062118471566,0.4836792935492846,0.4326674628012621],"tcp_quaternion_wxyz":[3.639505858301985e-05,0.7071377564890383,0.7070758022512452,4.351789079176347e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0987925592158605e-16,-4.052471280783523e-17,-3.879306721442208e-08],"object_linear_velocity_m_s":[4.9358905464907676e-17,1.370956254082077e-16,6.674682879136586e-15],"object_angular_velocity_rad_s":[-5.440025126737323e-15,1.915317391323903e-15,-8.216867754857719e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513008539026,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8582513008045967,-1.6121130064816356,1.331253226272061,-1.3144121636844048,-1.570897546479324,-0.28736928363417474,0.0],"actuator_force":[1.285566190528698,-19.231972595083334,-20.219808541317434,-2.3895061826448227,0.06542262433629276,0.16985016466122715,-0.2931978232145195],"issued_joint_targets_rad":[-1.8617247857668118,-1.6023821455871947,1.3410062053986025,-1.309436349389324,-1.57089679441128,-0.2908433874829059],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.140000000000385,"joint_targets_rad":[-1.8617247857668118,-1.6023821455871947,1.3410062053986025,-1.309436349389324,-1.57089679441128,-0.2908433874829059],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.160000000000392,"qpos":[-1.8283108030616584,-1.6034557513228778,1.3435216540479196,-1.3109007570807403,-1.57090303733273,-0.2574268209546552,0.00293346849226075,0.00015645219691115252,0.00319433544078717,-0.0034283059260609744,0.002933530463931965,0.00015610410866848844,0.0031968475288232166,-0.0034385565852612116,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,9.884745347223528e-17,-5.646863051378227e-17,-3.926003470404106e-08],"qvel":[-0.17028648547646674,0.00607240552717647,-0.012830137424453875,0.007102021890120722,-0.0006246759011981773,-0.16877940651319,-1.8549757390963346e-05,1.921693041838031e-05,0.00017263024609369396,0.0002009505774022996,-1.2070395331171307e-05,-2.4821025807826096e-05,-0.00014296371524496064,-0.00012368949222409638,6.913494224059221e-17,1.2653235280208965e-16,5.946099019226326e-15,-3.896363080368141e-15,1.149594851443453e-15,-1.5001925502818253e-08],"joint_position_rad":[-1.8283108030616584,-1.6034557513228778,1.3435216540479196,-1.3109007570807403,-1.57090303733273,-0.2574268209546552],"joint_velocity_rad_s":[-0.17028648547646674,0.00607240552717647,-0.012830137424453875,0.007102021890120722,-0.0006246759011981773,-0.16877940651319],"linkage_position_rad":[0.00293346849226075,0.00015645219691115252,0.00319433544078717,-0.0034283059260609744,0.002933530463931965,0.00015610410866848844,0.0031968475288232166,-0.0034385565852612116],"tcp_position_m":[-0.011139193959252626,0.4837517272848436,0.4327278245030235],"tcp_quaternion_wxyz":[3.638708946051111e-05,0.7071377709292167,0.7070757878101753,4.3518475067904204e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.884745347223528e-17,-5.646863051378227e-17,-3.926003470404106e-08],"object_linear_velocity_m_s":[6.913494224059221e-17,1.2653235280208965e-16,5.946099019226326e-15],"object_angular_velocity_rad_s":[-3.896362988407591e-15,1.149595160351955e-15,-1.5001925502818276e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512854688337,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.861725413103179,-1.6118623401775078,1.3308470513935986,-1.3142587497264089,-1.570897323238411,-0.2908433896779019,0.0],"actuator_force":[1.285374107545067,-19.242139920130285,-20.217150338860392,-2.3891985118464163,0.06532463727933191,0.16965628969563795,-0.29319684704602506],"issued_joint_targets_rad":[-1.8651938731695814,-1.6021144967999368,1.3405845706564807,-1.3092829132134154,-1.5708965324996231,-0.2943125742703063],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.160000000000392,"joint_targets_rad":[-1.8651938731695814,-1.6021144967999368,1.3405845706564807,-1.3092829132134154,-1.5708965324996231,-0.2943125742703063],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1800000000003985,"qpos":[-1.8318190857150898,-1.6033304294715907,1.3432412730624534,-1.310746090271974,-1.5709028813293884,-0.2609350674411958,0.0029334669363872447,0.00015645067340397707,0.0031943371118916945,-0.0034283026848685133,0.002933529196363862,0.0001561057011154095,0.0031968611510483675,-0.00343855047958886,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.0620277469360449e-16,-5.743504905418478e-17,-3.972670225834301e-08],"qvel":[-0.17009051490405802,0.006799855621166374,-0.013541180141164035,0.007092778705831857,-0.0006233298298843654,-0.16858212593781985,-1.8660128049236752e-05,1.907503426147511e-05,0.00017267791695963004,0.0002011537357456395,-1.2127425057550182e-05,-2.4641823395638872e-05,-0.00014170455830513247,-0.000123238862788415,7.185381011172348e-17,1.4483473706690364e-16,5.646338802577533e-15,-1.6096686341924688e-15,1.1895999718914988e-15,-2.73897275101266e-08],"joint_position_rad":[-1.8318190857150898,-1.6033304294715907,1.3432412730624534,-1.310746090271974,-1.5709028813293884,-0.2609350674411958],"joint_velocity_rad_s":[-0.17009051490405802,0.006799855621166374,-0.013541180141164035,0.007092778705831857,-0.0006233298298843654,-0.16858212593781985],"linkage_position_rad":[0.0029334669363872447,0.00015645067340397707,0.0031943371118916945,-0.0034283026848685133,0.002933529196363862,0.0001561057011154095,0.0031968611510483675,-0.00343855047958886],"tcp_position_m":[-0.009432298652310019,0.4838242696527192,0.4327883396644478],"tcp_quaternion_wxyz":[3.637379943685052e-05,0.7071377837221651,0.7070757750166159,4.352129709199917e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0620277469360449e-16,-5.743504905418478e-17,-3.972670225834301e-08],"object_linear_velocity_m_s":[7.185381011172348e-17,1.4483473706690364e-16,5.646338802577533e-15],"object_angular_velocity_rad_s":[-1.6096685365284376e-15,1.18960010560288e-15,-2.7389727510126643e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512700617177,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8651946037946243,-1.6115969248329798,1.3304257927731327,-1.3141053184838836,-1.570897095577656,-0.29431257646634257,0.0],"actuator_force":[1.2851698025542646,-19.252932971244718,-20.214488522176453,-2.388891976537934,0.06522585885466015,0.16945808120860306,-0.2931958688720214],"issued_joint_targets_rad":[-1.8686579545096107,-1.6018317797145416,1.3401478220230902,-1.309129432366899,-1.5708962663858077,-0.29777675715568325],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.1800000000003985,"joint_targets_rad":[-1.8686579545096107,-1.6018317797145416,1.3401478220230902,-1.309129432366899,-1.5708962663858077,-0.29777675715568325],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.200000000000405,"qpos":[-1.835323209671418,-1.6031900817098725,1.3429459754169748,-1.3105915400093957,-1.570902717498867,-0.26443915964552234,0.0029334653890890055,0.00015644914126865773,0.0031943387702751207,-0.003428299454330437,0.0029335279390770488,0.00015610730306912633,0.003196874821720502,-0.003438544378256619,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.0431144229627742e-16,-5.453516273196387e-17,-4.0117290104428754e-08],"qvel":[-0.1698902761482914,0.007527496206660774,-0.01425321638677346,0.007084353549817528,-0.0006219931863240403,-0.16838055413756955,-1.8770950371706975e-05,1.893199776466214e-05,0.0001727217763963229,0.0002013566078899467,-1.2184620028474529e-05,-2.4461500124061307e-05,-0.00014044065873753113,-0.00012278656910178436,8.446392400109362e-17,1.715932303951606e-16,5.846178947010061e-15,1.2802814092090422e-15,-4.919949121135726e-16,-5.000672566585386e-08],"joint_position_rad":[-1.835323209671418,-1.6031900817098725,1.3429459754169748,-1.3105915400093957,-1.570902717498867,-0.26443915964552234],"joint_velocity_rad_s":[-0.1698902761482914,0.007527496206660774,-0.01425321638677346,0.007084353549817528,-0.0006219931863240403,-0.16838055413756955],"linkage_position_rad":[0.0029334653890890055,0.00015644914126865773,0.0031943387702751207,-0.003428299454330437,0.0029335279390770488,0.00015610730306912633,0.003196874821720502,-0.003438544378256619],"tcp_position_m":[-0.0077253760488658575,0.4838969219842987,0.43284901195482284],"tcp_quaternion_wxyz":[3.635558822690089e-05,0.707137794954409,0.7070757637840263,4.3526113863637455e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.0431144229627742e-16,-5.453516273196387e-17,-4.0117290104428754e-08],"object_linear_velocity_m_s":[8.446392400109362e-17,1.715932303951606e-16,5.846178947010061e-15],"object_angular_velocity_rad_s":[1.2802813751882852e-15,-4.919950044038661e-16,-5.000672566585394e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512546315522,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8686587882397139,-1.6113167582904646,1.3299894207332357,-1.3139518425438406,-1.5708968635507614,-0.2977767593527314,0.0],"actuator_force":[1.2849533227249594,-19.264351643848386,-20.211822812768787,-2.388586622204116,0.06512629268524961,0.16925556015243615,-0.2931948885563018],"issued_joint_targets_rad":[-1.8721169456094489,-1.6015339920818388,1.3396959282015257,-1.3089758778877503,-1.5708959961218008,-0.30123585195110697],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.200000000000405,"joint_targets_rad":[-1.8721169456094489,-1.6015339920818388,1.3396959282015257,-1.3089758778877503,-1.5708959961218008,-0.30123585195110697],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.220000000000412,"qpos":[-1.838823086810858,-1.6030347036520776,1.3426357394100317,-1.3104370881658085,-1.5709025461763133,-0.26793900922644953,0.002933463851001848,0.00015644760065440026,0.0031943404172963034,-0.003428296234861043,0.0029335266926962798,0.0001561089143952215,0.003196888541295023,-0.003438538281898296,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,9.769232451976105e-17,-5.3343234670029194e-17,-4.0451534329728923e-08],"qvel":[-0.1696857890302244,0.008255316030177335,-0.014966294672563014,0.0070768010857975095,-0.0006206645803609157,-0.1681747120895382,-1.888224447472626e-05,1.878783337406976e-05,0.00017276190680377997,0.00020155925722557393,-1.224200155000077e-05,-2.4280072606778166e-05,-0.00013917202178842137,-0.00012233256533739713,1.550849135346959e-16,2.3151476112892787e-16,5.5172753759648586e-15,6.74653317754269e-15,-5.826684996713196e-15,-9.129965279485204e-08],"joint_position_rad":[-1.838823086810858,-1.6030347036520776,1.3426357394100317,-1.3104370881658085,-1.5709025461763133,-0.26793900922644953],"joint_velocity_rad_s":[-0.1696857890302244,0.008255316030177335,-0.014966294672563014,0.0070768010857975095,-0.0006206645803609157,-0.1681747120895382],"linkage_position_rad":[0.002933463851001848,0.00015644760065440026,0.0031943404172963034,-0.003428296234861043,0.0029335266926962798,0.0001561089143952215,0.003196888541295023,-0.003438538281898296],"tcp_position_m":[-0.00601842601636416,0.4839696856777106,0.4329098452283558],"tcp_quaternion_wxyz":[3.6332815346381615e-05,0.7071378047042038,0.7070757540341404,4.353271014338011e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.769232451976105e-17,-5.3343234670029194e-17,-4.0451534329728923e-08],"object_linear_velocity_m_s":[1.550849135346959e-16,2.3151476112892787e-16,5.5172753759648586e-15],"object_angular_velocity_rad_s":[6.746532715886421e-15,-5.826685524689873e-15,-9.129965279485218e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512391772702,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8721178822582474,-1.6110218383593022,1.3295379040181028,-1.3137982929399339,-1.5708966272074092,-0.3012358541491395,0.0],"actuator_force":[1.2847247173108371,-19.27639582652,-20.20915291483243,-2.388282495642443,0.06502594248809146,0.16904874760879807,-0.29319390595478273],"issued_joint_targets_rad":[-1.8755707627496472,-1.6012211315879057,1.3392288562146042,-1.3088222192006163,-1.5708957217559396,-0.3046897749265863],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.220000000000412,"joint_targets_rad":[-1.8755707627496472,-1.6012211315879057,1.3392288562146042,-1.3088222192006163,-1.5708957217559396,-0.3046897749265863],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.2400000000004185,"qpos":[-1.8423186294281262,-1.6028642911124271,1.342310542267593,-1.3102827154264012,-1.5709023676693432,-0.2714345282784422,0.002933462322802918,0.00015644605171066017,0.003194342054370488,-0.003428293026915914,0.002933525457888057,0.00015611053496071477,0.0031969023102931668,-0.0034385321911876267,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,9.148056158479869e-17,-5.706588843653586e-17,-4.079785566034417e-08],"qvel":[-0.16947707359400166,0.008983305181092522,-0.015680466579146183,0.0070701781177188545,-0.0006193427418818795,-0.16796462088339345,-1.8994031892000127e-05,1.8642553141467524e-05,0.0001727983917777638,0.00020176175044218494,-1.2299592088641888e-05,-2.409755739452472e-05,-0.00013789864837913997,-0.0001218768023340782,6.885082015548458e-17,1.118765592371013e-16,5.553357624265176e-15,-3.666820134410875e-15,2.04294498432188e-15,-9.891569712178627e-09],"joint_position_rad":[-1.8423186294281262,-1.6028642911124271,1.342310542267593,-1.3102827154264012,-1.5709023676693432,-0.2714345282784422],"joint_velocity_rad_s":[-0.16947707359400166,0.008983305181092522,-0.015680466579146183,0.0070701781177188545,-0.0006193427418818795,-0.16796462088339345],"linkage_position_rad":[0.002933462322802918,0.00015644605171066017,0.003194342054370488,-0.003428293026915914,0.002933525457888057,0.00015611053496071477,0.0031969023102931668,-0.0034385321911876267],"tcp_position_m":[-0.004311448439370856,0.4840425622029558,0.4329708435368847],"tcp_quaternion_wxyz":[3.630580402410722e-05,0.7071378130423297,0.7070757456961659,4.3540895767931354e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,9.148056158479869e-17,-5.706588843653586e-17,-4.079785566034417e-08],"object_linear_velocity_m_s":[6.885082015548458e-17,1.118765592371013e-16,5.553357624265176e-15],"object_angular_velocity_rad_s":[-3.666819966586377e-15,2.0429452853284464e-15,-9.891569712178642e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512236977321,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8755718021281345,-1.6107121627771916,1.3290712096946737,-1.3136446390927525,-1.5708963865936234,-0.3046897771255763,0.0],"actuator_force":[1.284484037583752,-19.289065401966127,-20.206478514179707,-2.3879796449475634,0.0649248120480479,0.16883766477229756,-0.29319292091464555],"issued_joint_targets_rad":[-1.8790193226664442,-1.600893195811085,1.3387465712955706,-1.3086684240507886,-1.5708954433332478,-0.30813844280776176],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.2400000000004185,"joint_targets_rad":[-1.8790193226664442,-1.600893195811085,1.3387465712955706,-1.3086684240507886,-1.5708954433332478,-0.30813844280776176],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.260000000000425,"qpos":[-1.845809750236418,-1.6026788400755798,1.3419703600749324,-1.3101284012417653,-1.5709021822603837,-0.27492562933356274,0.0029334608052185027,0.00015644449458696708,0.003194343682977808,-0.003428289830993617,0.0029335242353684446,0.00015611216463408325,0.0031969161293105637,-0.0034385261068369368,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,7.515851490636073e-17,-5.930297679775127e-17,-4.129722134294516e-08],"qvel":[-0.16926415007524337,0.009711455159661852,-0.016395786964794382,0.00706454368512022,-0.0006180265104604303,-0.1677503016998856,-1.9106335752646378e-05,1.849616851273371e-05,0.00017283131603152053,0.00020196415772222694,-1.2357415401052923e-05,-2.391397079173427e-05,-0.00013662053455553515,-0.00012141922621994165,7.478405387029357e-17,9.610723586820125e-17,5.445110879364223e-15,-3.013101602498267e-15,2.172159493303472e-15,-1.80595083619834e-08],"joint_position_rad":[-1.845809750236418,-1.6026788400755798,1.3419703600749324,-1.3101284012417653,-1.5709021822603837,-0.27492562933356274],"joint_velocity_rad_s":[-0.16926415007524337,0.009711455159661852,-0.016395786964794382,0.00706454368512022,-0.0006180265104604303,-0.1677503016998856],"linkage_position_rad":[0.0029334608052185027,0.00015644449458696708,0.003194343682977808,-0.003428289830993617,0.0029335242353684446,0.00015611216463408325,0.0031969161293105637,-0.0034385261068369368],"tcp_position_m":[-0.002604443220546745,0.484115553107518,0.4330320111437903],"tcp_quaternion_wxyz":[3.6274844744283305e-05,0.7071378200328094,0.7070757387060699,4.35505032175426e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,7.515851490636073e-17,-5.930297679775127e-17,-4.129722134294516e-08],"object_linear_velocity_m_s":[7.478405387029357e-17,9.610723586820125e-17,5.445110879364223e-15],"object_angular_velocity_rad_s":[-3.013101420947994e-15,2.1721597448835675e-15,-1.8059508361983434e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512081917193,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.879020464583084,-1.6103877291677036,1.3285893030434508,-1.3134908487437662,-1.5708961417520966,-0.30813844500768306,0.0],"actuator_force":[1.2842313367655152,-19.302360248112564,-20.203799277045164,-2.387678119512543,0.06482290518954414,0.16862233292837914,-0.29319193327357884],"issued_joint_targets_rad":[-1.8824625425478907,-1.6005501821745736,1.3382490367671498,-1.308514458430983,-1.5708951608957038,-0.31158177277205035],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.260000000000425,"joint_targets_rad":[-1.8824625425478907,-1.6005501821745736,1.3382490367671498,-1.308514458430983,-1.5708951608957038,-0.31158177277205035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.280000000000432,"qpos":[-1.849296362370645,-1.602478346665499,1.341615167703505,-1.3099741237784104,-1.5709019902088226,-0.2784122253628834,0.002933459299032267,0.00015644292943283388,0.003194345304671454,-0.003428286647641937,0.002933523025911343,0.00015611380328581651,0.0031969299990285216,-0.00343852002960807,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,6.355824810052913e-17,-5.902497519929803e-17,-4.1734406482267895e-08],"qvel":[-0.16904703886532105,0.010439758958820513,-0.01711231420737383,0.007059959182099641,-0.0006167148257408683,-0.16753177578424072,-1.9219180988069255e-05,1.8348690333892875e-05,0.00017286076553127826,0.0002021665536390702,-1.241549670645465e-05,-2.3729328941869622e-05,-0.00013533767064329694,-0.00012095977776711127,8.430925921562428e-17,8.881981120665811e-17,5.364619710078899e-15,-1.5693670986078759e-15,4.846712218721246e-16,-3.2972101675140457e-08],"joint_position_rad":[-1.849296362370645,-1.602478346665499,1.341615167703505,-1.3099741237784104,-1.5709019902088226,-0.2784122253628834],"joint_velocity_rad_s":[-0.16904703886532105,0.010439758958820513,-0.01711231420737383,0.007059959182099641,-0.0006167148257408683,-0.16753177578424072],"linkage_position_rad":[0.002933459299032267,0.00015644292943283388,0.003194345304671454,-0.003428286647641937,0.002933523025911343,0.00015611380328581651,0.0031969299990285216,-0.00343852002960807],"tcp_position_m":[-0.0008974102817117536,0.48418866002250327,0.4330933525392666],"tcp_quaternion_wxyz":[3.624019845034939e-05,0.7071378257335528,0.7070757330059323,4.356138541720319e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,6.355824810052913e-17,-5.902497519929803e-17,-4.1734406482267895e-08],"object_linear_velocity_m_s":[8.430925921562428e-17,8.881981120665811e-17,5.364619710078899e-15],"object_angular_velocity_rad_s":[-1.5693670542605865e-15,4.846713570566305e-16,-3.2972101675140516e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511926579202,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8824637868087308,-1.6100485349933902,1.3280921474376712,-1.3133368878820775,-1.570895892722467,-0.3115817749728771,0.0],"actuator_force":[1.2839666699569534,-19.316280239310345,-20.201114848718134,-2.3873779700435307,0.0647202257518984,0.16840277342723198,-0.2931909428587079],"issued_joint_targets_rad":[-1.8859003400282073,-1.6001920878939813,1.3377362139073576,-1.3083602864999382,-1.5708948744824731,-0.3150196824430151],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.280000000000432,"joint_targets_rad":[-1.8859003400282073,-1.6001920878939813,1.3377362139073576,-1.3083602864999382,-1.5708948744824731,-0.3150196824430151],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.300000000000439,"qpos":[-1.8527783793898462,-1.6022628071122929,1.3412449387320422,-1.3098198598662363,-1.5709017917529748,-0.2818942297772479,0.0029334578050940903,0.0001564413563977448,0.003194346921084684,-0.0034282834774746022,0.002933521830357321,0.00015611545078827744,0.0031969439202212844,-0.0034385139603255173,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,4.3593812415829756e-17,-3.4328166330208695e-17,-4.214296843244472e-08],"qvel":[-0.16882576047093023,0.01116821116118817,-0.01783011048392133,0.007056488502093227,-0.0006154067185232849,-0.16730906441387783,-1.9332594493400536e-05,1.8200128750575263e-05,0.0001728868274089562,0.00020236901771723595,-1.2473862800409537e-05,-2.354364764592996e-05,-0.00013405004094692056,-0.00012049839286176979,3.475819648514651e-17,6.021289145936317e-17,5.360456373736556e-15,-1.9133256019940545e-15,3.235553355910756e-15,-6.019873116611814e-08],"joint_position_rad":[-1.8527783793898462,-1.6022628071122929,1.3412449387320422,-1.3098198598662363,-1.5709017917529748,-0.2818942297772479],"joint_velocity_rad_s":[-0.16882576047093023,0.01116821116118817,-0.01783011048392133,0.007056488502093227,-0.0006154067185232849,-0.16730906441387783],"linkage_position_rad":[0.0029334578050940903,0.0001564413563977448,0.003194346921084684,-0.0034282834774746022,0.002933521830357321,0.00015611545078827744,0.0031969439202212844,-0.0034385139603255173],"tcp_position_m":[0.0008096504349960488,0.4842618846693848,0.4331548724571006],"tcp_quaternion_wxyz":[3.6202099441888206e-05,0.7071378301969402,0.7070757285433633,4.357341374096911e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,4.3593812415829756e-17,-3.4328166330208695e-17,-4.214296843244472e-08],"object_linear_velocity_m_s":[3.475819648514651e-17,6.021289145936317e-17,5.360456373736556e-15],"object_angular_velocity_rad_s":[-1.9133253251493806e-15,3.2355535224257757e-15,-6.019873116611825e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511770949323,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8859016864370013,-1.6096945775038982,1.3275797042092496,-1.313182720662999,-1.5708956395415599,-0.31501968464472174,0.0],"actuator_force":[1.2836900940624218,-19.33082524768588,-20.19842485201616,-2.3870792485905667,0.06461677755976325,0.16817900765084914,-0.2931899494861015],"issued_joint_targets_rad":[-1.8893326331801668,-1.5998189099191884,1.337208061800234,-1.308205870491675,-1.5708945841301047,-0.31845208988276913],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.300000000000439,"joint_targets_rad":[-1.8893326331801668,-1.5998189099191884,1.337208061800234,-1.308205870491675,-1.5708945841301047,-0.31845208988276913],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.320000000000445,"qpos":[-1.8562557152786534,-1.6020322177166808,1.3408596453609813,-1.3096655849423582,-1.5709015871118852,-0.28537155642726003,0.0029334563243298777,0.0001564397756307927,0.003194348533941572,-0.0034282803211705946,0.002933520649623484,0.0001561171070164337,0.0031969578937696475,-0.0034385078998778015,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,2.4323091791563086e-17,-1.895523434407347e-17,-4.242300937983306e-08],"qvel":[-0.16860033546850303,0.011896808052918846,-0.0185492420927807,0.007054198211306269,-0.0006141013024950126,-0.1670821888601002,-1.9446605462622844e-05,1.8050492974444633e-05,0.00017290958980370336,0.00020257163409538684,-1.2532542333091125e-05,-2.3356942423681267e-05,-0.00013275762267678018,-0.00012003500054310672,1.294609302500843e-16,-1.0064305703450529e-17,5.36323193129812e-15,-5.152435003258701e-15,-7.446743849173924e-15,-1.0990768103639162e-07],"joint_position_rad":[-1.8562557152786534,-1.6020322177166808,1.3408596453609813,-1.3096655849423582,-1.5709015871118852,-0.28537155642726003],"joint_velocity_rad_s":[-0.16860033546850303,0.011896808052918846,-0.0185492420927807,0.007054198211306269,-0.0006141013024950126,-0.1670821888601002],"linkage_position_rad":[0.0029334563243298777,0.0001564397756307927,0.003194348533941572,-0.0034282803211705946,0.002933520649623484,0.0001561171070164337,0.0031969578937696475,-0.0034385078998778015],"tcp_position_m":[0.0025167389658471355,0.4843352288674181,0.43321657589316565],"tcp_quaternion_wxyz":[3.616075799948764e-05,0.707137833470345,0.7070757252709815,4.358647620152883e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.4323091791563086e-17,-1.895523434407347e-17,-4.242300937983306e-08],"object_linear_velocity_m_s":[1.294609302500843e-16,-1.0064305703450529e-17,5.36323193129812e-15],"object_angular_velocity_rad_s":[-5.152435630918608e-15,-7.446743406663726e-15,-1.0990768103639182e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511615012413,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8893340815384994,-1.6093258536784165,1.3270519324996506,-1.3130283093172885,-1.5708953822435932,-0.31845209208533043,0.0],"actuator_force":[1.283401667709768,-19.34599514463889,-20.195728885549215,-2.3867820085957874,0.06451256439561348,0.16795105697482882,-0.2931889529586895],"issued_joint_targets_rad":[-1.8927593405052303,-1.5994306448696882,1.3366645371693253,-1.308051170614064,-1.570894289872692,-0.3218789135821356],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.320000000000445,"joint_targets_rad":[-1.8927593405052303,-1.5994306448696882,1.3366645371693253,-1.308051170614064,-1.570894289872692,-0.3218789135821356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.340000000000452,"qpos":[-1.8597282844476994,-1.6017865748116866,1.3404592583192312,-1.3095112729906142,-1.5709013764869746,-0.28884411960236,0.0029334548577523802,0.0001564381872806962,0.0031943501450671166,-0.0034282771794919204,0.002933519484714297,0.0001561187718478053,0.003196971920672435,-0.003438501849229241,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,2.6948700710580036e-19,-3.848101673401283e-17,-4.283991539399818e-08],"qvel":[-0.16837078445267853,0.012625547756462721,-0.0192697798241432,0.0070531577541462,-0.0006127977665411371,-0.16685117034306252,-1.9561245554683267e-05,1.7899791312507473e-05,0.00017292914241542388,0.0002027744932730211,-1.2591565921133218e-05,-2.31692283135135e-05,-0.00013146038505254065,-0.00011956952319314117,4.613930109206527e-17,4.714015189184043e-18,5.378497497886717e-15,-8.798899699968384e-16,9.346809148593193e-16,-1.1907597187890568e-08],"joint_position_rad":[-1.8597282844476994,-1.6017865748116866,1.3404592583192312,-1.3095112729906142,-1.5709013764869746,-0.28884411960236],"joint_velocity_rad_s":[-0.16837078445267853,0.012625547756462721,-0.0192697798241432,0.0070531577541462,-0.0006127977665411371,-0.16685117034306252],"linkage_position_rad":[0.0029334548577523802,0.0001564381872806962,0.0031943501450671166,-0.0034282771794919204,0.002933519484714297,0.0001561187718478053,0.003196971920672435,-0.003438501849229241],"tcp_position_m":[0.004223855324119222,0.4844086945418248,0.4332784681258395],"tcp_quaternion_wxyz":[3.6116362759034675e-05,0.7071378355966029,0.7070757231459428,4.3600475803786097e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,2.6948700710580036e-19,-3.848101673401283e-17,-4.283991539399818e-08],"object_linear_velocity_m_s":[4.613930109206527e-17,4.714015189184043e-18,5.378497497886717e-15],"object_angular_velocity_rad_s":[-8.798898889971012e-16,9.346809902545592e-16,-1.1907597187890589e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511458752163,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8927608906126516,-1.6089423601616533,1.326508789093525,-1.3128736140496988,-1.570895120860346,-0.3218789157855266,0.0],"actuator_force":[1.2831014511671128,-19.361789802518615,-20.1930265217552,-2.386486304956861,0.06440758996836848,0.1677189427229564,-0.2931879530659548],"issued_joint_targets_rad":[-1.896180380921141,-1.5990272889624835,1.3361055941914017,-1.3078961449351223,-1.5708939917419995,-0.32530007244826675],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.340000000000452,"joint_targets_rad":[-1.896180380921141,-1.5990272889624835,1.3361055941914017,-1.3078961449351223,-1.5708939917419995,-0.32530007244826675],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.360000000000459,"qpos":[-1.8631960017328268,-1.6015258747211174,1.3400437467621202,-1.309356896475992,-1.5709011600635505,-0.2923118340288389,0.002933453406473476,0.00015643659149551498,0.00319435175639836,-0.0034282740532965775,0.002933518336733909,0.00015612044516330999,0.003196986002061158,-0.003438495809442401,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,-8.397703206604698e-18,-5.652629619288566e-17,-4.3312925359016825e-08],"qvel":[-0.1681371279780419,0.013354430384719786,-0.019991799385936135,0.0070534396948130195,-0.0006114953675516431,-0.16661602997926309,-1.9676549272624643e-05,1.7748030882228554e-05,0.00017294557584484436,0.00020297769163713381,-1.2650966449980754e-05,-2.2980519905756423e-05,-0.00013015828840020341,-0.00011910187562767633,7.002776326465254e-17,-7.287650262219101e-18,5.427069755214065e-15,-9.917392161897344e-17,9.0655691353653e-16,-2.174026542228858e-08],"joint_position_rad":[-1.8631960017328268,-1.6015258747211174,1.3400437467621202,-1.309356896475992,-1.5709011600635505,-0.2923118340288389],"joint_velocity_rad_s":[-0.1681371279780419,0.013354430384719786,-0.019991799385936135,0.0070534396948130195,-0.0006114953675516431,-0.16661602997926309],"linkage_position_rad":[0.002933453406473476,0.00015643659149551498,0.00319435175639836,-0.0034282740532965775,0.002933518336733909,0.00015612044516330999,0.003196986002061158,-0.003438495809442401],"tcp_position_m":[0.005930999498555057,0.4844822837328395,0.4333405547386165],"tcp_quaternion_wxyz":[3.606908286252332e-05,0.7071378366144352,0.7070757221295183,4.361532904713731e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,-8.397703206604698e-18,-5.652629619288566e-17,-4.3312925359016825e-08],"object_linear_velocity_m_s":[7.002776326465254e-17,-7.287650262219101e-18,5.427069755214065e-15],"object_angular_velocity_rad_s":[-9.917384062991605e-17,9.065569217624169e-16,-2.174026542228862e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511302150995,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.8961820325753103,-1.6085440931924202,1.325950228232595,-1.312718592925255,-1.570894855421295,-0.32530007465246247,0.0],"actuator_force":[1.2827895062496282,-19.37820909649372,-20.190317304675773,-2.386192194112823,0.0643018578829242,0.1674826861145391,-0.29318694958175623],"issued_joint_targets_rad":[-1.8995956737466158,-1.5986088379314136,1.3355311842873827,-1.3077407492551478,-1.5708936897675598,-0.3287154857893683],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.360000000000459,"joint_targets_rad":[-1.8995956737466158,-1.5986088379314136,1.3355311842873827,-1.3077407492551478,-1.5708936897675598,-0.3287154857893683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.380000000000465,"qpos":[-1.8666587823929366,-1.6012501137143083,1.3396130781592135,-1.309202426273116,-1.570900938012184,-0.2957746148666187,0.002933451971718246,0.0001564349884226215,0.0031943533699983996,-0.0034282709435454477,0.0029335172069002487,0.00015612212684747279,0.0031970001392165543,-0.00343848978167796,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.464367570878214e-18,-6.013217543541186e-17,-4.3719115268542084e-08],"qvel":[-0.16789938649315633,0.014083458219655516,-0.020715381893700705,0.007055120000205735,-0.0006101934237275053,-0.1663767887206577,-1.9792554250740823e-05,1.7595217528875843e-05,0.0001729589820281956,0.0002031813336476075,-1.2710779291133374e-05,-2.2790831157116284e-05,-0.00012885128264515652,-0.00011863196315652269,9.339811819985677e-17,8.892159552125708e-18,5.366007488859683e-15,9.846069619418517e-16,-5.33198849599428e-16,-3.969223456032336e-08],"joint_position_rad":[-1.8666587823929366,-1.6012501137143083,1.3396130781592135,-1.309202426273116,-1.570900938012184,-0.2957746148666187],"joint_velocity_rad_s":[-0.16789938649315633,0.014083458219655516,-0.020715381893700705,0.007055120000205735,-0.0006101934237275053,-0.1663767887206577],"linkage_position_rad":[0.002933451971718246,0.0001564349884226215,0.0031943533699983996,-0.0034282709435454477,0.0029335172069002487,0.00015612212684747279,0.0031970001392165543,-0.00343848978167796],"tcp_position_m":[0.007638171451652304,0.48455599860574555,0.43340284164519993],"tcp_quaternion_wxyz":[3.601906990698043e-05,0.7071378365588269,0.7070757221867164,4.3630964557939855e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.464367570878214e-18,-6.013217543541186e-17,-4.3719115268542084e-08],"object_linear_velocity_m_s":[9.339811819985677e-17,8.892159552125708e-18,5.366007488859683e-15],"object_angular_velocity_rad_s":[9.846069200934469e-16,-5.331989355754698e-16,-3.969223456032344e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511145189866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.899597426743455,-1.6081310485237066,1.3253762014067623,-1.312563201741372,-1.570894585953719,-0.32871548799434397,0.0],"actuator_force":[1.282465896226313,-19.395252906658698,-20.187600747422493,-2.3858997341486656,0.06419537160525124,0.1672423082031571,-0.29318594226321537],"issued_joint_targets_rad":[-1.9030051386827151,-1.598175286936604,1.3349412558869542,-1.3075849369624932,-1.5708933839767352,-0.3321250732961027],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.380000000000465,"joint_targets_rad":[-1.9030051386827151,-1.598175286936604,1.3349412558869542,-1.3075849369624932,-1.5708933839767352,-0.3321250732961027],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.400000000000472,"qpos":[-1.8701165421062953,-1.600959287956556,1.339167218170462,-1.3090478315877851,-1.570900710489966,-0.2992323777046048,0.0029334505548407126,0.00015643337820824867,0.00319435498807182,-0.0034282678513284826,0.0029335160965607908,0.00015612381678883707,0.0031970143335854823,-0.0034384837672167957,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.1356741538650833e-17,-6.159593381345151e-17,-4.40851476546781e-08],"qvel":[-0.16765758026567065,0.014812635919025494,-0.021440614434451253,0.007058278370125022,-0.0006088913082577818,-0.1661334672842002,-1.9909301701293412e-05,1.7441355592075446e-05,0.0001729694543876883,0.0002033855310951111,-1.2771042653486964e-05,-2.260017536852908e-05,-0.0001275393064503322,-0.0001181596827483459,1.3172968403045428e-16,1.947292739348354e-17,5.318823010313112e-15,1.9952957484741697e-15,-3.0145118733447543e-15,-7.246799676955731e-08],"joint_position_rad":[-1.8701165421062953,-1.600959287956556,1.339167218170462,-1.3090478315877851,-1.570900710489966,-0.2992323777046048],"joint_velocity_rad_s":[-0.16765758026567065,0.014812635919025494,-0.021440614434451253,0.007058278370125022,-0.0006088913082577818,-0.1661334672842002],"linkage_position_rad":[0.0029334505548407126,0.00015643337820824867,0.00319435498807182,-0.0034282678513284826,0.0029335160965607908,0.00015612381678883707,0.0031970143335854823,-0.0034384837672167957],"tcp_position_m":[0.009345371117762156,0.48462984146203114,0.4334653351174339],"tcp_quaternion_wxyz":[3.596645971221042e-05,0.7071378354613627,0.7070757232859457,4.364732183188807e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.1356741538650833e-17,-6.159593381345151e-17,-4.40851476546781e-08],"object_linear_velocity_m_s":[1.3172968403045428e-16,1.947292739348354e-17,5.318823010313112e-15],"object_angular_velocity_rad_s":[1.9952954916112318e-15,-3.0145120476245637e-15,-7.246799676955746e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510987848164,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9030069928165778,-1.6077032213329443,1.3247866571189297,-1.312407393883613,-1.5708943124827681,-0.3321250755018334,0.0],"actuator_force":[1.2821306857031232,-19.412921120387182,-20.184876329283725,-2.385608984926421,0.06408813442465089,0.16699782980572309,-0.2931849308483013],"issued_joint_targets_rad":[-1.906408695790381,-1.5977266304624589,1.3343357541626142,-1.307428658870304,-1.570893074394748,-0.335528755019172],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.400000000000472,"joint_targets_rad":[-1.906408695790381,-1.5977266304624589,1.3343357541626142,-1.307428658870304,-1.570893074394748,-0.335528755019172],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.420000000000479,"qpos":[-1.8735691969650876,-1.6006533934545493,1.3387061305089014,-1.3088930798704208,-1.5709004776416569,-0.30268503855438755,0.0029334491573427485,0.00015643176099749623,0.003194356612982827,-0.0034282647778685984,0.002933515007211519,0.0001561255148812363,0.003197028586805395,-0.0034384777674771523,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.3620951200854093e-17,-5.433160958324337e-17,-4.4360036028291615e-08],"qvel":[-0.16741172929704165,0.015541970755743631,-0.022167590717072937,0.007062998622465416,-0.0006075884433898309,-0.16588608607043495,-2.0026836813433137e-05,1.728644767402667e-05,0.00017297708757497496,0.0002035904057415682,-1.2831797872816842e-05,-2.240856498538343e-05,-0.00012622228490269432,-0.00011768491829985622,6.74619189768843e-17,1.4431834446524275e-17,5.382660834229056e-15,-4.780329130221754e-16,2.3474191467251658e-15,-7.851313997422328e-09],"joint_position_rad":[-1.8735691969650876,-1.6006533934545493,1.3387061305089014,-1.3088930798704208,-1.5709004776416569,-0.30268503855438755],"joint_velocity_rad_s":[-0.16741172929704165,0.015541970755743631,-0.022167590717072937,0.007062998622465416,-0.0006075884433898309,-0.16588608607043495],"linkage_position_rad":[0.0029334491573427485,0.00015643176099749623,0.003194356612982827,-0.0034282647778685984,0.002933515007211519,0.0001561255148812363,0.003197028586805395,-0.0034384777674771523],"tcp_position_m":[0.01105259840097444,0.4847038147518363,0.43352804181648275],"tcp_quaternion_wxyz":[3.5911373927730314e-05,0.7071378333505287,0.7070757253987134,4.366435007706943e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.3620951200854093e-17,-5.433160958324337e-17,-4.4360036028291615e-08],"object_linear_velocity_m_s":[6.74619189768843e-17,1.4431834446524275e-17,5.382660834229056e-15],"object_angular_velocity_rad_s":[-4.780327039058295e-16,2.3474191893501604e-15,-7.851313997422343e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351083010345,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9064106508542342,-1.6072606061209003,1.3241815406192703,-1.3122511201624125,-1.5708940350315057,-0.33552875722563297,0.0],"actuator_force":[1.2817839405233826,-19.431213634999494,-20.18214349243317,-2.385320008242388,0.0639801494146468,0.1667492714207981,-0.2931839150542821],"issued_joint_targets_rad":[-1.909806265463554,-1.5972628622023142,1.333714620728089,-1.3072718630310682,-1.5708927610446797,-0.33892645134247984],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.420000000000479,"joint_targets_rad":[-1.909806265463554,-1.5972628622023142,1.333714620728089,-1.3072718630310682,-1.5708927610446797,-0.33892645134247984],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.440000000000485,"qpos":[-1.8770166634679653,-1.6003324259960114,1.3382297767877906,-1.3087381367200712,-1.5709002396007334,-0.3061325138420368,0.002933447780895222,0.00015643013693400062,0.0031943582472749306,-0.0034282617245619015,0.002933513940518049,0.00015612722102374506,0.0031970429007249076,-0.003438471784037814,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,1.5394109504741203e-17,-4.5237998156860754e-17,-4.486191278054992e-08],"qvel":[-0.1671618532251341,0.01627147289538497,-0.02289641182416403,0.00706936914245583,-0.0006062842947677593,-0.1656346650693867,-2.014520932591681e-05,1.7130494387232904e-05,0.00017298197780474654,0.00020379608869391236,-1.2893089870432778e-05,-2.2216011528221708e-05,-0.00012490012830185295,-0.00011720754291367992,5.996287811303196e-17,1.8473783346156327e-17,5.342415249586393e-15,-6.432458798559788e-16,2.2026808373876023e-15,-1.4334516655574045e-08],"joint_position_rad":[-1.8770166634679653,-1.6003324259960114,1.3382297767877906,-1.3087381367200712,-1.5709002396007334,-0.3061325138420368],"joint_velocity_rad_s":[-0.1671618532251341,0.01627147289538497,-0.02289641182416403,0.00706936914245583,-0.0006062842947677593,-0.1656346650693867],"linkage_position_rad":[0.002933447780895222,0.00015643013693400062,0.0031943582472749306,-0.0034282617245619015,0.002933513940518049,0.00015612722102374506,0.0031970429007249076,-0.003438471784037814],"tcp_position_m":[0.01275985317274748,0.48477792108788004,0.43359096882774767],"tcp_quaternion_wxyz":[3.585392148955992e-05,0.707137830251979,0.7070757284993606,4.368200714744963e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,1.5394109504741203e-17,-4.5237998156860754e-17,-4.486191278054992e-08],"object_linear_velocity_m_s":[5.996287811303196e-17,1.8473783346156327e-17,5.342415249586393e-15],"object_angular_velocity_rad_s":[-6.432456809260965e-16,2.202680895543413e-15,-1.4334516655574074e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510671931369,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9098083212491805,-1.6068031965973197,1.3235607936038947,-1.312094328627612,-1.5708937536209129,-0.3389264535496461,0.0],"actuator_force":[1.2814257276227181,-19.4501303607708,-20.179401638126365,-2.385032868016083,0.06387141938705554,0.1664966531340326,-0.2931828945746818],"issued_joint_targets_rad":[-1.9131977683971408,-1.5967839749274928,1.3330777932950386,-1.3071144945251674,-1.5708924439474277,-0.34231808295115473],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.440000000000485,"joint_targets_rad":[-1.9131977683971408,-1.5967839749274928,1.3330777932950386,-1.3071144945251674,-1.5708924439474277,-0.34231808295115473],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.460000000000492,"qpos":[-1.8804588585102955,-1.5999963810826074,1.3377381163497368,-1.308582965777388,-1.5708999964903423,-0.30957472039768946,0.002933446427363677,0.00015642850615995343,0.0031943598936978223,-0.0034282586929840933,0.002933512898341348,0.00015612893512212728,0.0031970572774356917,-0.003438465818655922,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,-1.8407924475172486e-17,-6.470261830961598e-17,-4.5307819129605024e-08],"qvel":[-0.16690797121259154,0.017001155718501474,-0.02362718708364378,0.007077483407109174,-0.000604978366000873,-0.1653792237516423,-2.026447409881114e-05,1.6973494008344436e-05,0.00017298422278797762,0.00020400272419875747,-1.2954967575731056e-05,-2.2022525381451235e-05,-0.0001235727294679926,-0.00011672741391870138,8.512161804310075e-17,-2.33371705471186e-17,5.324374125436234e-15,-1.7702772887051682e-15,-1.2621688402042224e-16,-2.6171207496787414e-08],"joint_position_rad":[-1.8804588585102955,-1.5999963810826074,1.3377381163497368,-1.308582965777388,-1.5708999964903423,-0.30957472039768946],"joint_velocity_rad_s":[-0.16690797121259154,0.017001155718501474,-0.02362718708364378,0.007077483407109174,-0.000604978366000873,-0.1653792237516423],"linkage_position_rad":[0.002933446427363677,0.00015642850615995343,0.0031943598936978223,-0.0034282586929840933,0.002933512898341348,0.00015612893512212728,0.0031970572774356917,-0.003438465818655922],"tcp_position_m":[0.014467135269247549,0.48485216326109204,0.43365412370008594],"tcp_quaternion_wxyz":[3.5794199956463784e-05,0.7071378261887691,0.7070757325648249,4.370025853540526e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,-1.8407924475172486e-17,-6.470261830961598e-17,-4.5307819129605024e-08],"object_linear_velocity_m_s":[8.512161804310075e-17,-2.33371705471186e-17,5.324374125436234e-15],"object_angular_velocity_rad_s":[-1.7702772967556969e-15,-1.2621672456913093e-16,-2.6171207496787467e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351051330525,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9131999246953617,-1.606330985551084,1.322924353871837,-1.3119369643569976,-1.5708934682698574,-0.34231808515900125,0.0],"actuator_force":[1.281056114904004,-19.46967122435308,-20.17665012234238,-2.3847476305157898,0.06376194684253278,0.16623999450834503,-0.2931818690768786],"issued_joint_targets_rad":[-1.916583125548955,-1.596289960338005,1.3324252052806387,-1.3069564952187886,-1.5708921231216346,-0.3457035707935542],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.460000000000492,"joint_targets_rad":[-1.916583125548955,-1.596289960338005,1.3324252052806387,-1.3069564952187886,-1.5708921231216346,-0.3457035707935542],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.480000000000499,"qpos":[-1.883895699371769,-1.5996452538550154,1.337231106074851,-1.3084275286047118,-1.5708997484241647,-0.31301157544257513,0.0029334450988376224,0.00015642686881546365,0.003194361555233153,-0.0034282556849342975,0.0029335118827670363,0.0001561306570895705,0.0031970717193025864,-0.0034384598733111036,-0.13444194834219045,0.4789461432144415,0.2998922445797836,1.0,-3.618195691921041e-17,-7.660957794077533e-17,-4.573570031295369e-08],"qvel":[-0.16665010181822473,0.017731036196074326,-0.02436003508265919,0.007087440598851309,-0.0006036701934752428,-0.16511978094197471,-2.0384691818895096e-05,1.6815442205647744e-05,0.00017298392205660024,0.00020421046860339155,-1.3017484464891643e-05,-2.1828115618531234e-05,-0.00012223996129449757,-0.00011624437302066078,1.223700018690399e-16,-5.858121779078488e-17,5.325761904217014e-15,-1.4713093580621876e-15,-1.1766454024362994e-15,-4.778201583612e-08],"joint_position_rad":[-1.883895699371769,-1.5996452538550154,1.337231106074851,-1.3084275286047118,-1.5708997484241647,-0.31301157544257513],"joint_velocity_rad_s":[-0.16665010181822473,0.017731036196074326,-0.02436003508265919,0.007087440598851309,-0.0006036701934752428,-0.16511978094197471],"linkage_position_rad":[0.0029334450988376224,0.00015642686881546365,0.003194361555233153,-0.0034282556849342975,0.0029335118827670363,0.0001561306570895705,0.0031970717193025864,-0.0034384598733111036],"tcp_position_m":[0.016174444488349062,0.48492654425823345,0.43371751449003126],"tcp_quaternion_wxyz":[3.5732296722193416e-05,0.7071378211815621,0.7070757375744395,4.3719076427576364e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[1.0,-3.618195691921041e-17,-7.660957794077533e-17,-4.573570031295369e-08],"object_linear_velocity_m_s":[1.223700018690399e-16,-5.858121779078488e-17,5.325761904217014e-15],"object_angular_velocity_rad_s":[-1.4713094583704673e-15,-1.1766452713112633e-15,-4.778201583612009e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510354196015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9165853821498766,-1.6058439647021394,1.3222721549329493,-1.3117789692141975,-1.5708931789950318,-0.3457035730020558,0.0],"actuator_force":[1.2806751710750177,-19.48983617267777,-20.173888250739765,-2.384464364628002,0.06365173391395729,0.16597931445713243,-0.29318083819881396],"issued_joint_targets_rad":[-1.9199622580945859,-1.5957808088915664,1.3317567853570744,-1.3067978034856078,-1.570891798583568,-0.34908283603620965],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.480000000000499,"joint_targets_rad":[-1.9199622580945859,-1.5957808088915664,1.3317567853570744,-1.3067978034856078,-1.570891798583568,-0.34908283603620965],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.500000000000505,"qpos":[-1.8873271037009456,-1.5992790390088374,1.3367087001644289,-1.308271784551028,-1.5708994955072064,-0.31644299657306585,0.002933443797666115,0.00015642522503902848,0.003194363235130745,-0.0034282527024658417,0.0029335108961409083,0.00015613238684761323,0.00319708622900443,-0.0034384539502233967,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.8442849613503436e-17,-7.24777218783131e-17,-4.605507461018602e-08],"qvel":[-0.16638826284834649,0.018461135328253206,-0.025095084851404343,0.007099346325132601,-0.0006023593412204967,-0.16485635467234055,-2.050592986508978e-05,1.665633149347241e-05,0.00017298117707615276,0.00020441949497679367,-1.3080699233115894e-05,-2.1632789834813823e-05,-0.00012090167398333702,-0.00011575824334618183,1.762472675858041e-16,-9.93595090102376e-17,5.496458694253132e-15,-3.483487563105309e-15,-5.639142931740557e-15,-8.723789445495785e-08],"joint_position_rad":[-1.8873271037009456,-1.5992790390088374,1.3367087001644289,-1.308271784551028,-1.5708994955072064,-0.31644299657306585],"joint_velocity_rad_s":[-0.16638826284834649,0.018461135328253206,-0.025095084851404343,0.007099346325132601,-0.0006023593412204967,-0.16485635467234055],"linkage_position_rad":[0.002933443797666115,0.00015642522503902848,0.003194363235130745,-0.0034282527024658417,0.0029335108961409083,0.00015613238684761323,0.00319708622900443,-0.0034384539502233967],"tcp_position_m":[0.017881780586236972,0.48500106728181447,0.4337811498118239],"tcp_quaternion_wxyz":[3.5668290135186145e-05,0.707137815248803,0.7070757435097534,4.3738438801180653e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.8442849613503436e-17,-7.24777218783131e-17,-4.605507461018602e-08],"object_linear_velocity_m_s":[1.762472675858041e-16,-9.93595090102376e-17,5.496458694253132e-15],"object_angular_velocity_rad_s":[-3.4834880698819833e-15,-5.6391426175833206e-15,-8.723789445495784e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510194571671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9199646147878786,-1.6053421245318948,1.3216041255577524,-1.3116202815703535,-1.5708928858108444,-0.34908283824534103,0.0],"actuator_force":[1.280282965472452,-19.510625177416387,-20.171115272790757,-2.3841831421759707,0.06354078230299365,0.16571463109647766,-0.2931798015448601],"issued_joint_targets_rad":[-1.9233350873738848,-1.5952565096068352,1.3310724569319305,-1.306638353885344,-1.570891470346957,-0.3524558000103982],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.500000000000505,"joint_targets_rad":[-1.9233350873738848,-1.5952565096068352,1.3310724569319305,-1.306638353885344,-1.570891470346957,-0.3524558000103982],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.520000000000512,"qpos":[-1.8907529894962518,-1.5988977306997647,1.3361708498959508,-1.3081156905991203,-1.5708992378365088,-0.31986890174124905,0.002933442526499453,0.0001564235749667142,0.0031943649369471786,-0.0034282497479239593,0.0029335099411106377,0.00015613412432775013,0.003197100809578607,-0.003438448051903266,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.908381880745799e-17,-6.92564498726653e-17,-4.638598872390779e-08],"qvel":[-0.16612247118391316,0.019191478659090717,-0.025832477251230477,0.0071133134653041325,-0.0006010453958550106,-0.16458896201014628,-2.0628263233227187e-05,1.6496150840175998e-05,0.00017297609157890137,0.00020462999343738984,-1.314467647619572e-05,-2.1436553773675427e-05,-0.0001195576906674463,-0.0001152688258212555,8.541074134781803e-17,-4.6639135816011624e-17,6.1320613758510344e-15,1.5508742441993826e-15,2.8513920826039123e-15,-9.451511458470031e-09],"joint_position_rad":[-1.8907529894962518,-1.5988977306997647,1.3361708498959508,-1.3081156905991203,-1.5708992378365088,-0.31986890174124905],"joint_velocity_rad_s":[-0.16612247118391316,0.019191478659090717,-0.025832477251230477,0.0071133134653041325,-0.0006010453958550106,-0.16458896201014628],"linkage_position_rad":[0.002933442526499453,0.0001564235749667142,0.0031943649369471786,-0.0034282497479239593,0.0029335099411106377,0.00015613412432775013,0.003197100809578607,-0.003438448051903266],"tcp_position_m":[0.019589143273545287,0.4850757357727175,0.43384503889424625],"tcp_quaternion_wxyz":[3.560225052977699e-05,0.70713780840687,0.7070757503543847,4.375832853877318e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.908381880745799e-17,-6.92564498726653e-17,-4.638598872390779e-08],"object_linear_velocity_m_s":[8.541074134781803e-17,-4.6639135816011624e-17,6.1320613758510344e-15],"object_angular_velocity_rad_s":[1.5508745100378141e-15,2.851391937987427e-15,-9.45151145847003e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510034397032,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9233375439490943,-1.604825454088011,1.320920189258227,-1.3114608359826618,-1.570892588729268,-0.3524558022201338,0.0],"actuator_force":[1.2798795678804709,-19.532038240128713,-20.16833037495553,-2.383904038301239,0.06342909320585477,0.1654459615722601,-0.2931787586819575],"issued_joint_targets_rad":[-1.9267015348274636,-1.5947170498358147,1.330372137545901,-1.3064780767907054,-1.5708911384227797,-0.35582238414874356],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.520000000000512,"joint_targets_rad":[-1.9267015348274636,-1.5947170498358147,1.330372137545901,-1.3064780767907054,-1.5708911384227797,-0.35582238414874356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.540000000000519,"qpos":[-1.8941732750828186,-1.598501322436084,1.3356175033442896,-1.3079592011916976,-1.570898975501798,-0.32328920923142274,0.0029334412883395434,0.00015642191873242899,0.0031943666645947587,-0.003428246824002758,0.0029335090206760363,0.00015613586947282103,0.003197115464473485,-0.003438442181211873,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.619474827171156e-17,-7.20034446139443e-17,-4.6863138519987066e-08],"qvel":[-0.16585274257848187,0.019922096883114984,-0.02657236660987018,0.00712946317111824,-0.0005997279615039601,-0.16431761885675147,-2.0751775740047074e-05,1.63348849499999e-05,0.00017296877144179468,0.00020484217421801805,-1.3209487614879738e-05,-2.1239411103243635e-05,-0.00011820780373033046,-0.00011477589691819737,9.006597160721471e-17,-6.694745875523308e-17,6.259737023682927e-15,1.07492374076827e-15,2.153947860374959e-15,-1.725607311926174e-08],"joint_position_rad":[-1.8941732750828186,-1.598501322436084,1.3356175033442896,-1.3079592011916976,-1.570898975501798,-0.32328920923142274],"joint_velocity_rad_s":[-0.16585274257848187,0.019922096883114984,-0.02657236660987018,0.00712946317111824,-0.0005997279615039601,-0.16431761885675147],"linkage_position_rad":[0.0029334412883395434,0.00015642191873242899,0.0031943666645947587,-0.003428246824002758,0.0029335090206760363,0.00015613586947282103,0.003197115464473485,-0.003438442181211873],"tcp_position_m":[0.021296532210942947,0.48515055343598795,0.4339091916454577],"tcp_quaternion_wxyz":[3.5534241185858614e-05,0.7071378006701949,0.7070757580938969,4.377873255933716e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.619474827171156e-17,-7.20034446139443e-17,-4.6863138519987066e-08],"object_linear_velocity_m_s":[9.006597160721471e-17,-6.694745875523308e-17,6.259737023682927e-15],"object_angular_velocity_rad_s":[1.0749239451347725e-15,2.1539477576869472e-15,-1.725607311926174e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509873633273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9267040910743651,-1.6042939407585632,1.320220263685982,-1.3113005628213037,-1.5708922877596412,-0.3558223863590576,0.0],"actuator_force":[1.2794650482996985,-19.55407539820453,-20.165532672666814,-2.38362713191475,0.06331666722871887,0.16517332185770783,-0.2931777091340043],"issued_joint_targets_rad":[-1.930061521921236,-1.5941624149991618,1.3296557381709535,-1.3063168979521869,-1.5708908028189825,-0.35918250990987366],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.540000000000519,"joint_targets_rad":[-1.930061521921236,-1.5941624149991618,1.3296557381709535,-1.3063168979521869,-1.5708908028189825,-0.35918250990987366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.560000000000525,"qpos":[-1.8975878790844498,-1.5980898069561855,1.3350486050629247,-1.3078022680325594,-1.5708987085860662,-0.32670383763178934,0.002933440086600591,0.0001564202564680653,0.0031943684224003204,-0.0034282439338065994,0.002933508138249603,0.00015613762223857112,0.003197130197614753,-0.0034384363414048545,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.27254764165415e-17,-7.297645572322344e-17,-4.728087407400056e-08],"qvel":[-0.16557909142071317,0.020653026563618584,-0.02731492265764611,0.007147926054058497,-0.0005984066545695054,-0.16404233970989998,-2.0876561359323603e-05,1.6172513633626923e-05,0.00017295932585180662,0.00020505627256984228,-1.327521189870262e-05,-2.1041363027702115e-05,-0.0001168517691331674,-0.00011427920378677207,9.964488747849167e-17,-7.185537471221859e-17,6.290268156860122e-15,1.1118790271864138e-15,7.645452825583923e-16,-3.1505231814582375e-08],"joint_position_rad":[-1.8975878790844498,-1.5980898069561855,1.3350486050629247,-1.3078022680325594,-1.5708987085860662,-0.32670383763178934],"joint_velocity_rad_s":[-0.16557909142071317,0.020653026563618584,-0.02731492265764611,0.007147926054058497,-0.0005984066545695054,-0.16404233970989998],"linkage_position_rad":[0.002933440086600591,0.0001564202564680653,0.0031943684224003204,-0.0034282439338065994,0.002933508138249603,0.00015613762223857112,0.003197130197614753,-0.0034384363414048545],"tcp_position_m":[0.023003947004069866,0.4852255242703813,0.4339736187272809],"tcp_quaternion_wxyz":[3.546431923053561e-05,0.7071377920513602,0.7070757667157039,4.379964092662634e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.27254764165415e-17,-7.297645572322344e-17,-4.728087407400056e-08],"object_linear_velocity_m_s":[9.964488747849167e-17,-7.185537471221859e-17,6.290268156860122e-15],"object_angular_velocity_rad_s":[1.1118791040814275e-15,7.645451740949074e-16,-3.1505231814582375e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509712237339,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9300641776302374,-1.603747570009355,1.319504259930944,-1.3111393878342303,-1.5708919829084016,-0.35918251212074026,0.0],"actuator_force":[1.2790394767102953,-19.57673673178624,-20.162721200903434,-2.3833525062412946,0.06320350428927668,0.16489672651451315,-0.2931766523762196],"issued_joint_targets_rad":[-1.933414970056497,-1.593592588276533,1.328923162387844,-1.3061547379875336,-1.570890463540137,-0.36253609868864844],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.560000000000525,"joint_targets_rad":[-1.933414970056497,-1.593592588276533,1.328923162387844,-1.3061547379875336,-1.570890463540137,-0.36253609868864844],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.580000000000532,"qpos":[-1.900996720389811,-1.5976631760882263,1.3344640957175518,-1.30764483985799,-1.5708984371661021,-0.3301127058004558,0.002933438925182553,0.00015641858830319212,0.0031943702151735615,-0.0034282410809188917,0.0029335072977298097,0.00015613938259598917,0.003197145013479991,-0.003438430536219359,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.444034919100928e-17,-8.379228135263859e-17,-4.767125983338464e-08],"qvel":[-0.16530153045341098,0.021384310987999953,-0.02806033283287806,0.0071688436015739905,-0.000597081098291762,-0.1637631373820232,-2.1002725915966264e-05,1.6009010827647835e-05,0.00017294786686917847,0.000205272550575718,-1.3341937678193505e-05,-2.0842407780737225e-05,-0.0001154892999203633,-0.00011377845921883873,1.5592905689676317e-16,-1.027815904839457e-16,6.291655935640904e-15,-1.7513798958916859e-15,-3.683883695589935e-15,-5.7520597231515184e-08],"joint_position_rad":[-1.900996720389811,-1.5976631760882263,1.3344640957175518,-1.30764483985799,-1.5708984371661021,-0.3301127058004558],"joint_velocity_rad_s":[-0.16530153045341098,0.021384310987999953,-0.02806033283287806,0.0071688436015739905,-0.000597081098291762,-0.1637631373820232],"linkage_position_rad":[0.002933438925182553,0.00015641858830319212,0.0031943702151735615,-0.0034282410809188917,0.0029335072977298097,0.00015613938259598917,0.003197145013479991,-0.003438430536219359],"tcp_position_m":[0.02471138719769181,0.4853006526023653,0.4340383316407438],"tcp_quaternion_wxyz":[3.5392536500327694e-05,0.7071377825611656,0.7070757762090014,4.382104592702299e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.444034919100928e-17,-8.379228135263859e-17,-4.767125983338464e-08],"object_linear_velocity_m_s":[1.5592905689676317e-16,-1.027815904839457e-16,6.291655935640904e-15],"object_angular_velocity_rad_s":[-1.751380237482868e-15,-3.68388353487183e-15,-5.7520597231515184e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509550161334,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9334177250191003,-1.6031863250765568,1.318772081699474,-1.310977231636609,-1.5708916741787624,-0.36253610090004135,0.0],"actuator_force":[1.2786029227859217,-19.600022371861087,-20.159894903004897,-2.383080249466957,0.06308960349906556,0.1646161884095818,-0.29317558782764735],"issued_joint_targets_rad":[-1.93676180046242,-1.5930075502420802,1.3281743054163666,-1.3059915117792444,-1.5708901205870052,-0.36588307170882156],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.580000000000532,"joint_targets_rad":[-1.93676180046242,-1.5930075502420802,1.3281743054163666,-1.3059915117792444,-1.5708901205870052,-0.36588307170882156],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.600000000000539,"qpos":[-1.9043997181117605,-1.5972214205884097,1.3338639116626823,-1.3074868621724398,-1.570898161312963,-0.3335157328246486,0.0029334378085609553,0.0001564169143655696,0.0031943720482929695,-0.0034282382695028017,0.0029335065035905935,0.00015614115053328863,0.0031971599171894873,-0.0034384247699653,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-4.9029887039530945e-17,-8.460557034159867e-17,-4.799404065791971e-08],"qvel":[-0.16502007043890862,0.02211600119230797,-0.02880880504344325,0.007192369875898154,-0.00059575091693453,-0.16348002266409717,-2.113038903953115e-05,1.5844343657794217e-05,0.0001729345107291924,0.00020549130315961409,-1.3409763871557418e-05,-2.0642540139145847e-05,-0.00011412005863042494,-0.00011327333693808824,2.309445210431588e-16,-9.964166032251087e-17,6.294431493202467e-15,-1.2454443225472524e-15,-8.54072043986408e-15,-1.0501808478485045e-07],"joint_position_rad":[-1.9043997181117605,-1.5972214205884097,1.3338639116626823,-1.3074868621724398,-1.570898161312963,-0.3335157328246486],"joint_velocity_rad_s":[-0.16502007043890862,0.02211600119230797,-0.02880880504344325,0.007192369875898154,-0.00059575091693453,-0.16348002266409717],"linkage_position_rad":[0.0029334378085609553,0.0001564169143655696,0.0031943720482929695,-0.0034282382695028017,0.0029335065035905935,0.00015614115053328863,0.0031971599171894873,-0.0034384247699653],"tcp_position_m":[0.026418852268921218,0.4853759431254673,0.43410334282506663],"tcp_quaternion_wxyz":[3.5318940373915404e-05,0.7071377722086687,0.7070757865647284,4.384294107538282e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-4.9029887039530945e-17,-8.460557034159867e-17,-4.799404065791971e-08],"object_linear_velocity_m_s":[2.309445210431588e-16,-9.964166032251087e-17,6.294431493202467e-15],"object_angular_velocity_rad_s":[-1.2454451245843853e-15,-8.54072033061428e-15,-1.0501808478485045e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509387351819,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9367646544717538,-1.6026101866048446,1.3180236243453194,-1.310814009108309,-1.5708913615702962,-0.3658830739207144,0.0],"actuator_force":[1.2781554555767798,-19.623932509792667,-20.157052617348654,-2.3828104555244636,0.06297496302681793,0.16433171837678628,-0.293174514843022],"issued_joint_targets_rad":[-1.9401019340669696,-1.5924072784324685,1.3274090529644225,-1.3058271277589295,-1.5708897739560028,-0.3692233498941571],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.600000000000539,"joint_targets_rad":[-1.9401019340669696,-1.5924072784324685,1.3274090529644225,-1.3058271277589295,-1.5708897739560028,-0.3692233498941571],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6200000000005454,"qpos":[-1.9077967915384364,-1.5967645299534896,1.333247984449525,-1.3073282769410959,-1.5708978810924015,-0.3369128379717816,0.0029334367418977435,0.00015641523478186417,0.0031943739278114864,-0.003428235504406087,0.002933505760991772,0.00015614292605920925,0.0031971749146189714,-0.003438419047640311,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.898690805632213e-17,-8.824364171230921e-17,-4.839239926880158e-08],"qvel":[-0.1647347197576937,0.022848157196646044,-0.029560570996742478,0.007218673564720488,-0.0005944157294345274,-0.1631930039218219,-2.1259686644831638e-05,1.5678470918157887e-05,0.00017291937830174976,0.00020571286452097053,-1.3478801816800105e-05,-2.0441750723770674e-05,-0.0001127436473109284,-0.00011276346227962202,1.0719652896041403e-16,-4.9675788782475216e-17,6.352718201995287e-15,1.9898923584013537e-15,3.2729940788720603e-15,-1.1377849475758375e-08],"joint_position_rad":[-1.9077967915384364,-1.5967645299534896,1.333247984449525,-1.3073282769410959,-1.5708978810924015,-0.3369128379717816],"joint_velocity_rad_s":[-0.1647347197576937,0.022848157196646044,-0.029560570996742478,0.007218673564720488,-0.0005944157294345274,-0.1631930039218219],"linkage_position_rad":[0.0029334367418977435,0.00015641523478186417,0.0031943739278114864,-0.003428235504406087,0.002933505760991772,0.00015614292605920925,0.0031971749146189714,-0.003438419047640311],"tcp_position_m":[0.02812634161930516,0.4854514009460481,0.43416866577287305],"tcp_quaternion_wxyz":[3.5243574600327356e-05,0.707137761001194,0.7070757977755582,4.386532002213969e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.898690805632213e-17,-8.824364171230921e-17,-4.839239926880158e-08],"object_linear_velocity_m_s":[1.0719652896041403e-16,-4.9675788782475216e-17,6.352718201995287e-15],"object_angular_velocity_rad_s":[1.989892677185463e-15,3.27299388539354e-15,-1.1377849475758378e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509223748856,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.940104886918407,-1.6020191322184794,1.3172587737194943,-1.3106496286782392,-1.5708910450784233,-0.3692233521065232,0.0],"actuator_force":[1.2776971431362654,-19.648467408638226,-20.154193061364822,-2.382543225043719,0.06285957993259217,0.16404332481141637,-0.29317343270216767],"issued_joint_targets_rad":[-1.9434352913411164,-1.591791746831223,1.326627279852409,-1.3056614870513563,-1.5708894236385353,-0.37255685371289293],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.6200000000005454,"joint_targets_rad":[-1.9434352913411164,-1.591791746831223,1.326627279852409,-1.3056614870513563,-1.5708894236385353,-0.37255685371289293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.640000000000552,"qpos":[-1.9111878600744012,-1.5962924922019774,1.332616240250452,-1.3071690222300516,-1.5708975965652519,-0.34030394063067587,0.002933435731178094,0.00015641354967809617,0.0031943758605836215,-0.0034282327913074404,0.00293350507591523,0.00015614470920570077,0.0031971900125329616,-0.0034384133750664614,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.8732345154525217e-17,-8.629140171647158e-17,-4.884436586605843e-08],"qvel":[-0.16444548392320962,0.023580849505404372,-0.030315890243619043,0.00724794047351356,-0.0005930751423092513,-0.16290208660693,-2.139077384963609e-05,1.551134165219221e-05,0.00017290259614841154,0.00020593761406608368,-1.3549177439629416e-05,-2.0240025147222445e-05,-0.00011135959563738062,-0.0001122484052649007,1.1127024354251216e-16,-5.0456285032162514e-17,6.377698220049355e-15,1.1127238833587952e-15,2.498732628580759e-15,-2.0773079877895137e-08],"joint_position_rad":[-1.9111878600744012,-1.5962924922019774,1.332616240250452,-1.3071690222300516,-1.5708975965652519,-0.34030394063067587],"joint_velocity_rad_s":[-0.16444548392320962,0.023580849505404372,-0.030315890243619043,0.00724794047351356,-0.0005930751423092513,-0.16290208660693],"linkage_position_rad":[0.002933435731178094,0.00015641354967809617,0.0031943758605836215,-0.0034282327913074404,0.00293350507591523,0.00015614470920570077,0.0031971900125329616,-0.0034384133750664614],"tcp_position_m":[0.029833854565534543,0.4855270316368814,0.43423431516506217],"tcp_quaternion_wxyz":[3.516648014550906e-05,0.7071377489443027,0.7070758098359256,4.3888175303286004e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.8732345154525217e-17,-8.629140171647158e-17,-4.884436586605843e-08],"object_linear_velocity_m_s":[1.1127024354251216e-16,-5.0456285032162514e-17,6.377698220049355e-15],"object_angular_velocity_rad_s":[1.1127241310418876e-15,2.4987325182709824e-15,-2.077307987789514e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509059284907,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.943438342832997,-1.6014131360092225,1.3164774047956245,-1.310483991468371,-1.5708907246937762,-0.37255685592570537,0.0],"actuator_force":[1.2772280520921413,-19.673627416651925,-20.151314812207147,-2.38227866651107,0.06274344996870695,0.16375101317825624,-0.29317234059821984],"issued_joint_targets_rad":[-1.9467617921096911,-1.59116092524836,1.3258288483563823,-1.3054944824428787,-1.570889069620174,-0.37588350298889234],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.640000000000552,"joint_targets_rad":[-1.9467617921096911,-1.59116092524836,1.3258288483563823,-1.3054944824428787,-1.570889069620174,-0.37588350298889234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.660000000000559,"qpos":[-1.9145728431696614,-1.5958052936170486,1.3319685991813994,-1.307009031782307,-1.5708973077877764,-0.34368896024077217,0.0029334347833822575,0.0001564118591816538,0.0031943778544284503,-0.0034282301368923174,0.002933504455335852,0.00015614650003244716,0.003197205218751553,-0.003438407759080496,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.6808776131723735e-17,-9.486615708878645e-17,-4.928667843039088e-08],"qvel":[-0.16415236499041191,0.02431416094339411,-0.031075055127751272,0.007280376577787387,-0.0005917287415513752,-0.16260727266088176,-2.1523828690028708e-05,1.5342892952951e-05,0.00017288429803903152,0.0002061659873361143,-1.362103400766971e-05,-2.0037343007626983e-05,-0.00010996734573100113,-0.00011172766790879644,1.4096613955684682e-16,-5.451755499132973e-17,6.370759326145446e-15,2.450387277185798e-16,-1.2463927890583804e-16,-3.7926398001026603e-08],"joint_position_rad":[-1.9145728431696614,-1.5958052936170486,1.3319685991813994,-1.307009031782307,-1.5708973077877764,-0.34368896024077217],"joint_velocity_rad_s":[-0.16415236499041191,0.02431416094339411,-0.031075055127751272,0.007280376577787387,-0.0005917287415513752,-0.16260727266088176],"linkage_position_rad":[0.0029334347833822575,0.0001564118591816538,0.0031943778544284503,-0.0034282301368923174,0.002933504455335852,0.00015614650003244716,0.003197205218751553,-0.003438407759080496],"tcp_position_m":[0.03154139032846098,0.4856028413002804,0.43430030702974676],"tcp_quaternion_wxyz":[3.508769608107275e-05,0.7071377360417274,0.7070758227420976,4.391149688554447e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.6808776131723735e-17,-9.486615708878645e-17,-4.928667843039088e-08],"object_linear_velocity_m_s":[1.4096613955684682e-16,-5.451755499132973e-17,6.370759326145446e-15],"object_angular_velocity_rad_s":[2.450387226283297e-16,-1.2463930585217635e-16,-3.792639800102661e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508893883547,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9467649420441702,-1.6007921679201564,1.315679380014234,-1.3103169902621397,-1.570890400401411,-0.37588350520212405,0.0],"actuator_force":[1.276748247147225,-19.69941298357344,-20.148416283230745,-2.382016897694939,0.06262656733781569,0.16345478541222747,-0.293171237622417],"issued_joint_targets_rad":[-1.9500813553201641,-1.5905147785677085,1.3250136061958824,-1.3053259971279774,-1.5708887118796317,-0.37920321667079504],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.660000000000559,"joint_targets_rad":[-1.9500813553201641,-1.5905147785677085,1.3250136061958824,-1.3053259971279774,-1.5708887118796317,-0.37920321667079504],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6800000000005655,"qpos":[-1.9179516602337896,-1.5953029184421825,1.3313049744983636,-1.3068482345145203,-1.5708970148119845,-0.347067816206584,0.002933433906701814,0.0001564101634230357,0.003194379918328753,-0.0034282275490799445,0.002933503907436492,0.00015614829863138698,0.0031972205423546865,-0.003438402207759791,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-4.4461554282297636e-17,-9.264230472591921e-17,-4.963642669000983e-08],"qvel":[-0.16385536082837696,0.025048188922155608,-0.03183839689454275,0.007316211791977539,-0.000590376083154431,-0.1623085597809775,-2.1659056672260543e-05,1.5173047401144587e-05,0.00017286462639794944,0.0002063984857352087,-1.3694535472866551e-05,-1.9833676459679323e-05,-0.00010856623266026484,-0.00011120067004056403,1.804386404875121e-16,-1.1070481685237472e-16,6.374922662487793e-15,-4.445049341452066e-15,-3.681968787778847e-15,-6.9244025141547e-08],"joint_position_rad":[-1.9179516602337896,-1.5953029184421825,1.3313049744983636,-1.3068482345145203,-1.5708970148119845,-0.347067816206584],"joint_velocity_rad_s":[-0.16385536082837696,0.025048188922155608,-0.03183839689454275,0.007316211791977539,-0.000590376083154431,-0.1623085597809775],"linkage_position_rad":[0.002933433906701814,0.0001564101634230357,0.003194379918328753,-0.0034282275490799445,0.002933503907436492,0.00015614829863138698,0.0031972205423546865,-0.003438402207759791],"tcp_position_m":[0.0332489480200179,0.4856788366429926,0.43436665893085624],"tcp_quaternion_wxyz":[3.500726055910253e-05,0.7071377222952531,0.7070758364922849,4.393527040996402e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-4.4461554282297636e-17,-9.264230472591921e-17,-4.963642669000983e-08],"object_linear_velocity_m_s":[1.804386404875121e-16,-1.1070481685237472e-16,6.374922662487793e-15],"object_angular_velocity_rad_s":[-4.4450496941417414e-15,-3.681968352663493e-15,-6.924402514154701e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508727457806,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.950084603504219,-1.6001561929979629,1.3148645472719098,-1.3101485082509514,-1.5708900721798256,-0.3792032188844187,0.0],"actuator_force":[1.2762577904923091,-19.725824680422647,-20.14549569509063,-2.3817580474133138,0.06250892439481959,0.16315463918036244,-0.2931701227461897],"issued_joint_targets_rad":[-1.9533938987577506,-1.589853265825251,1.3241813840679422,-1.3051559031724385,-1.5708883503874744,-0.3825159125475818],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.6800000000005655,"joint_targets_rad":[-1.9533938987577506,-1.589853265825251,1.3241813840679422,-1.3051559031724385,-1.5708883503874744,-0.3825159125475818],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.700000000000572,"qpos":[-1.9213242305315597,-1.5947853485179349,1.330625271637112,-1.3066865539150079,-1.570896717685923,-0.35044042779382806,0.0029334331108156484,0.00015640846253955903,0.0031943820626911786,-0.003428225037300156,0.00293350344188209,0.00015615010513242184,0.0031972359939392756,-0.0034383967307113593,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-4.80726595682302e-17,-7.893694037493908e-17,-4.989908577128871e-08],"qvel":[-0.16355446421690528,0.025783048263314384,-0.03260629330113778,0.007355704665847679,-0.000589016681783165,-0.16200594050835695,-2.1796696555975503e-05,1.5001709793095118e-05,0.00017284373470576947,0.00020663569311047701,-1.3769870727033854e-05,-1.9628988705229083e-05,-0.00010715546026140027,-0.0001106667321076772,9.659691255591138e-17,-5.572219744094371e-17,6.38047377761092e-15,1.7038129086902937e-15,3.224656795833049e-15,-7.502023073170586e-09],"joint_position_rad":[-1.9213242305315597,-1.5947853485179349,1.330625271637112,-1.3066865539150079,-1.570896717685923,-0.35044042779382806],"joint_velocity_rad_s":[-0.16355446421690528,0.025783048263314384,-0.03260629330113778,0.007355704665847679,-0.000589016681783165,-0.16200594050835695],"linkage_position_rad":[0.0029334331108156484,0.00015640846253955903,0.0031943820626911786,-0.003428225037300156,0.00293350344188209,0.00015615010513242184,0.0031972359939392756,-0.0034383967307113593],"tcp_position_m":[0.03495652662751987,0.48575502506575113,0.4344333901936778],"tcp_quaternion_wxyz":[3.4925211912779285e-05,0.7071377077045436,0.7070758510868241,4.395947503292283e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-4.80726595682302e-17,-7.893694037493908e-17,-4.989908577128871e-08],"object_linear_velocity_m_s":[9.659691255591138e-17,-5.572219744094371e-17,6.38047377761092e-15],"object_angular_velocity_rad_s":[1.7038132316895115e-15,3.2246566250743368e-15,-7.502023073170588e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508559908126,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9533972450043848,-1.5995051704771683,1.3140327374569134,-1.3099784174973206,-1.5708897399997235,-0.38251591476156993,0.0],"actuator_force":[1.2757567411117634,-19.7528632237927,-20.14255103994219,-2.3815022577412037,0.062390511278067606,0.16285056696474953,-0.29316899479847186],"issued_joint_targets_rad":[-1.9566993386912603,-1.5891763390691673,1.3233319925948483,-1.3049840596105158,-1.5708879851045041,-0.3858215068949983],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.700000000000572,"joint_targets_rad":[-1.9566993386912603,-1.5891763390691673,1.3233319925948483,-1.3049840596105158,-1.5708879851045041,-0.3858215068949983],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.720000000000579,"qpos":[-1.9246904730553842,-1.594252562844632,1.3299293870557123,-1.3065239073174482,-1.5708964164539605,-0.3538067140025769,0.0029334324072450026,0.00015640675668019592,0.0031943842996704883,-0.003428222612882206,0.0029335030701721104,0.00015615191971050978,0.003197251585940818,-0.0034383913394601356,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.924164718310829e-17,-6.896096307114929e-17,-5.0378634924024946e-08],"qvel":[-0.16324966171275743,0.026518874751703073,-0.03337917819258943,0.007399148295341901,-0.0005876499969620513,-0.1616994010828401,-2.1937027646554496e-05,1.4828762861720308e-05,0.00017282179084815563,0.00020687829275691368,-1.384725889763611e-05,-1.9423231621578342e-05,-0.00010573406877064447,-0.00011012505103557576,8.664268522555256e-17,-7.208426333299825e-17,6.387412671514827e-15,1.8363169736623447e-15,2.9876556632928523e-15,-1.3696799634835404e-08],"joint_position_rad":[-1.9246904730553842,-1.594252562844632,1.3299293870557123,-1.3065239073174482,-1.5708964164539605,-0.3538067140025769],"joint_velocity_rad_s":[-0.16324966171275743,0.026518874751703073,-0.03337917819258943,0.007399148295341901,-0.0005876499969620513,-0.1616994010828401],"linkage_position_rad":[0.0029334324072450026,0.00015640675668019592,0.0031943842996704883,-0.003428222612882206,0.0029335030701721104,0.00015615191971050978,0.003197251585940818,-0.0034383913394601356],"tcp_position_m":[0.03666412499465248,0.48583141477125114,0.43450052217683655],"tcp_quaternion_wxyz":[3.4841589961434645e-05,0.7071376922668876,0.7070758665284257,4.398408069889883e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.924164718310829e-17,-6.896096307114929e-17,-5.0378634924024946e-08],"object_linear_velocity_m_s":[8.664268522555256e-17,-7.208426333299825e-17,6.387412671514827e-15],"object_angular_velocity_rad_s":[1.8363172765794525e-15,2.9876554766477113e-15,-1.3696799634835407e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508391119908,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9567027828209542,-1.5988390526472913,1.3131837613988788,-1.3098065770319822,-1.5708894038224637,-0.3858215091093232,0.0],"actuator_force":[1.2752451539627145,-19.780529505999766,-20.139580036631287,-2.3812496868011976,0.062271315444604625,0.16254255491082858,-0.2931678524381347],"issued_joint_targets_rad":[-1.9599975894284032,-1.588483941934258,1.3224652185049164,-1.3048103100632895,-1.5708876159796918,-0.38911991403159363],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.720000000000579,"joint_targets_rad":[-1.9599975894284032,-1.588483941934258,1.3224652185049164,-1.3048103100632895,-1.5708876159796918,-0.38911991403159363],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.7400000000005855,"qpos":[-1.9280503063683376,-1.5937045370508232,1.3292172068262988,-1.3063602050164074,-1.570896111157072,-0.35716659341126844,0.0029334318098164797,0.0001564050460130405,0.003194386643597424,-0.003428220289520534,0.002933502806099747,0.00015615374259426483,0.003197267333045494,-0.0034383860479489945,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.0647114982811944e-17,-5.564351037395049e-17,-5.08604357101838e-08],"qvel":[-0.16294093221019296,0.027255829657013245,-0.03415755368674768,0.0074468778443765715,-0.0005862754158702017,-0.16138891998844568,-2.208037925878317e-05,1.4654061640603872e-05,0.00017279898087351026,0.0002071270930440138,-1.3926956211937732e-05,-1.921634308914043e-05,-0.00010430089353716725,-0.00010957467076422524,7.419958591317219e-17,-6.551017850616127e-17,6.501210531538905e-15,1.610313819353187e-15,2.0890802069238767e-15,-2.50068972605205e-08],"joint_position_rad":[-1.9280503063683376,-1.5937045370508232,1.3292172068262988,-1.3063602050164074,-1.570896111157072,-0.35716659341126844],"joint_velocity_rad_s":[-0.16294093221019296,0.027255829657013245,-0.03415755368674768,0.0074468778443765715,-0.0005862754158702017,-0.16138891998844568],"linkage_position_rad":[0.0029334318098164797,0.0001564050460130405,0.003194386643597424,-0.003428220289520534,0.002933502806099747,0.00015615374259426483,0.003197267333045494,-0.0034383860479489945],"tcp_position_m":[0.03837174179823504,0.48590801489555163,0.4345680786033139],"tcp_quaternion_wxyz":[3.4756437600114264e-05,0.70713767597685,0.7070758828225245,4.400904463733892e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.0647114982811944e-17,-5.564351037395049e-17,-5.08604357101838e-08],"object_linear_velocity_m_s":[7.419958591317219e-17,-6.551017850616127e-17,6.501210531538905e-15],"object_angular_velocity_rad_s":[1.6103140346391813e-15,2.0890800405882875e-15,-2.500689726052051e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508220960294,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9600011312708812,-1.5981577834358844,1.3123174060519538,-1.3096328304721845,-1.5708890635980777,-0.3891199162462276,0.0],"actuator_force":[1.2747230789905188,-19.808824632928008,-20.1365800739909,-2.3810005123261817,0.062151321084229494,0.16223058136498025,-0.29316669411845775],"issued_joint_targets_rad":[-1.9632885627510712,-1.5877760078374532,1.3215808197958014,-1.3046344797219258,-1.5708872429475174,-0.3924110457549476],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.7400000000005855,"joint_targets_rad":[-1.9632885627510712,-1.5877760078374532,1.3215808197958014,-1.3046344797219258,-1.5708872429475174,-0.3924110457549476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.760000000000592,"qpos":[-1.9314036484093853,-1.5931412427403422,1.3284886049040259,-1.3061953491790856,-1.570895801833146,-0.3605199839832856,0.002933431335272755,0.00015640333073671677,0.0031943891115358827,-0.0034282180839399854,0.002933502666357109,0.00015615557407645342,0.003197283252719251,-0.0034383808732046145,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.248090125336926e-17,-5.2946177699121885e-17,-5.1269281224592124e-08],"qvel":[-0.16262824509032997,0.027994105559029932,-0.03494200586938485,0.007499280233752029,-0.0005848922314791446,-0.16107446608281903,-2.2227142916584917e-05,1.4477426164180075e-05,0.0001727755155688997,0.0002073830594997216,-1.4009264750599425e-05,-1.9008243031825365e-05,-0.0001028545083484685,-0.00010901444174671096,8.599307499155104e-17,-4.410157902835538e-17,6.540068337400788e-15,1.800309355916699e-15,-4.254555397916091e-16,-4.565627936965539e-08],"joint_position_rad":[-1.9314036484093853,-1.5931412427403422,1.3284886049040259,-1.3061953491790856,-1.570895801833146,-0.3605199839832856],"joint_velocity_rad_s":[-0.16262824509032997,0.027994105559029932,-0.03494200586938485,0.007499280233752029,-0.0005848922314791446,-0.16107446608281903],"linkage_position_rad":[0.002933431335272755,0.00015640333073671677,0.0031943891115358827,-0.0034282180839399854,0.002933502666357109,0.00015615557407645342,0.003197283252719251,-0.0034383808732046145],"tcp_position_m":[0.040079375519518796,0.48598483566962586,0.43463608596744663],"tcp_quaternion_wxyz":[3.466980281810881e-05,0.707137658825795,0.7070758999777585,4.40343067553032e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.248090125336926e-17,-5.2946177699121885e-17,-5.1269281224592124e-08],"object_linear_velocity_m_s":[8.599307499155104e-17,-4.410157902835538e-17,6.540068337400788e-15],"object_angular_velocity_rad_s":[1.8003093171257415e-15,-4.254557273586548e-16,-4.565627936965541e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508049274205,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9632922021474757,-1.5974612966146122,1.311433429661027,-1.3094570030048658,-1.570888719262718,-0.3924110479698628,0.0],"actuator_force":[1.2741905599509664,-19.83774997215187,-20.13354813824344,-2.380754936265248,0.06203050836199964,0.16191461499329307,-0.2931655180431572],"issued_joint_targets_rad":[-1.9665721671889789,-1.5870524576627967,1.3206785195271045,-1.3044563714754673,-1.5708868659245028,-0.3956948106165301],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.760000000000592,"joint_targets_rad":[-1.9665721671889789,-1.5870524576627967,1.3206785195271045,-1.3044563714754673,-1.5708868659245028,-0.3956948106165301],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.780000000000599,"qpos":[-1.9347504162493832,-1.5925626466808827,1.3277434409748097,-1.3060292324909972,-1.5708954885173487,-0.3638668028248055,0.0029334310040903585,0.00015640161109702156,0.003194391724025531,-0.0034282160167461964,0.0029335026713449403,0.00015615741452720111,0.00319729936589806,-0.00343837583623835,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-2.5102393355396538e-17,-5.1369902373253086e-17,-5.162916434685513e-08],"qvel":[-0.16231155780845014,0.028733933955269932,-0.035733225287228734,0.007556806791535187,-0.0005834996142673755,-0.16075599615775152,-2.2377788616810116e-05,1.4298631359666932e-05,0.0001727516378960375,0.00020764735848603593,-1.409454406108375e-05,-1.8798828469469048e-05,-0.00010139315071461858,-0.00010844296850483317,1.1125636230476666e-16,-7.737657056427741e-17,6.547007231304696e-15,-2.735577929317999e-15,-2.8157307812164247e-15,-8.335683648250302e-08],"joint_position_rad":[-1.9347504162493832,-1.5925626466808827,1.3277434409748097,-1.3060292324909972,-1.5708954885173487,-0.3638668028248055],"joint_velocity_rad_s":[-0.16231155780845014,0.028733933955269932,-0.035733225287228734,0.007556806791535187,-0.0005834996142673755,-0.16075599615775152],"linkage_position_rad":[0.0029334310040903585,0.00015640161109702156,0.003194391724025531,-0.0034282160167461964,0.0029335026713449403,0.00015615741452720111,0.00319729936589806,-0.00343837583623835],"tcp_position_m":[0.041787024408316865,0.48606188862023375,0.43470457404102925],"tcp_quaternion_wxyz":[3.4581741330970575e-05,0.7071376408012314,0.7070759180066214,4.405978347719927e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-2.5102393355396538e-17,-5.1369902373253086e-17,-5.162916434685513e-08],"object_linear_velocity_m_s":[1.1125636230476666e-16,-7.737657056427741e-17,6.547007231304696e-15],"object_angular_velocity_rad_s":[-2.7355782115015755e-15,-2.8157305029301185e-15,-8.335683648250306e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507875879154,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9665759039945758,-1.5967495134973457,1.310531555557974,-1.3092788975143341,-1.5708883707353325,-0.39569481283169883,0.0],"actuator_force":[1.2736476329946527,-19.867307215034543,-20.130480718779836,-2.3805131908220574,0.0619088524348399,0.16159461232851413,-0.2931643221083755],"issued_joint_targets_rad":[-1.9698483070718538,-1.586313196746743,1.3197579977345444,-1.3042757608664335,-1.5708864848046171,-0.39897111297552507],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.780000000000599,"joint_targets_rad":[-1.9698483070718538,-1.586313196746743,1.3197579977345444,-1.3042757608664335,-1.5708864848046171,-0.39897111297552507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.800000000000606,"qpos":[-1.9380905257819758,-1.5919687097824864,1.326981557745111,-1.305861736448934,-1.5708951712425978,-0.36720696587822604,0.002933430841591396,0.0001563998874121538,0.003194394506085338,-0.0034282141136214644,0.0029335028462724013,0.0001561592644109104,0.0031973156979026125,-0.003438370963281852,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-2.6170151935004528e-17,-4.7691271032992836e-17,-5.19453566832199e-08],"qvel":[-0.16199081269973598,0.029475595348106568,-0.03653203411321831,0.007619990020998149,-0.0005820965747993691,-0.16043345170868148,-2.2532886543952203e-05,1.4117393409910267e-05,0.00017272763504408347,0.00020792141425391065,-1.4183226499487212e-05,-1.8587966479048776e-05,-9.991461766382271e-05,-0.0001078585355728154,5.743745101657532e-17,-3.401313763759999e-17,6.552558346427823e-15,1.1193508243983762e-15,1.761270801277503e-15,-9.031030609788276e-09],"joint_position_rad":[-1.9380905257819758,-1.5919687097824864,1.326981557745111,-1.305861736448934,-1.5708951712425978,-0.36720696587822604],"joint_velocity_rad_s":[-0.16199081269973598,0.029475595348106568,-0.03653203411321831,0.007619990020998149,-0.0005820965747993691,-0.16043345170868148],"linkage_position_rad":[0.002933430841591396,0.0001563998874121538,0.003194394506085338,-0.0034282141136214644,0.0029335028462724013,0.0001561592644109104,0.0031973156979026125,-0.003438370963281852],"tcp_position_m":[0.043494686437601494,0.4861391868228659,0.4347735765106413],"tcp_quaternion_wxyz":[3.449232012352302e-05,0.7071376218859188,0.7070759369263583,4.408535934247751e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-2.6170151935004528e-17,-4.7691271032992836e-17,-5.19453566832199e-08],"object_linear_velocity_m_s":[5.743745101657532e-17,-3.401313763759999e-17,6.552558346427823e-15],"object_angular_velocity_rad_s":[1.1193510082394533e-15,1.761270684514652e-15,-9.03103060978828e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507700558585,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9698521411594458,-1.596022339941926,1.309611464080432,-1.3090982895377223,-1.5708880179132592,-0.3989711151909196,0.0],"actuator_force":[1.2730943249543998,-19.897498458121845,-20.12737368407079,-2.38027554649409,0.06178632214925983,0.16127051452139085,-0.2931631038279726],"issued_joint_targets_rad":[-1.973116881272279,-1.5855581108859287,1.318818880720083,-1.3040923894091863,-1.5708860994531013,-0.4022398517438589],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.800000000000606,"joint_targets_rad":[-1.973116881272279,-1.5855581108859287,1.318818880720083,-1.3040923894091863,-1.5708860994531013,-0.4022398517438589],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.820000000000612,"qpos":[-1.9414238913268875,-1.5913593857927884,1.326202777480057,-1.3056927291783966,-1.5708948500402236,-0.3705403875289625,0.0029334308794823094,0.0001563981601118784,0.0031943974885927495,-0.0034282124069654587,0.0029335032226777288,0.00015616112430703123,0.0031973322796624106,-0.003438366287517147,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-4.7387996040358435e-17,-5.301229862328011e-17,-5.240127893785405e-08],"qvel":[-0.16166593267662915,0.030219432848926697,-0.03733942277237786,0.0076894662058345185,-0.000580681913294504,-0.16010675458208104,-2.269313671220087e-05,1.3933350661945763e-05,0.0001727038555034529,0.00020820699246916914,-1.4275837973035757e-05,-1.83754843993717e-05,-9.841611980181677e-05,-0.00010725900782079184,6.635830124868755e-17,-5.821875100502757e-17,6.55117056764704e-15,5.184709111005066e-16,1.5548063527759262e-15,-1.6488381274207475e-08],"joint_position_rad":[-1.9414238913268875,-1.5913593857927884,1.326202777480057,-1.3056927291783966,-1.5708948500402236,-0.3705403875289625],"joint_velocity_rad_s":[-0.16166593267662915,0.030219432848926697,-0.03733942277237786,0.0076894662058345185,-0.000580681913294504,-0.16010675458208104],"linkage_position_rad":[0.0029334308794823094,0.0001563981601118784,0.0031943974885927495,-0.0034282124069654587,0.0029335032226777288,0.00015616112430703123,0.0031973322796624106,-0.003438366287517147],"tcp_position_m":[0.04520235924518397,0.486216745224799,0.434843131791664],"tcp_quaternion_wxyz":[3.440162234363973e-05,0.7071376020566283,0.7070759567602055,4.411087531159999e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-4.7387996040358435e-17,-5.301229862328011e-17,-5.240127893785405e-08],"object_linear_velocity_m_s":[6.635830124868755e-17,-5.821875100502757e-17,6.55117056764704e-15],"object_angular_velocity_rad_s":[5.184710757963607e-16,1.554806296876138e-15,-1.6488381274207482e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507523053093,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9731208125365705,-1.595279662378916,1.3086727818678303,-1.3089149205831518,-1.5708876606663045,-0.40223985395945194,0.0],"actuator_force":[1.2725306512861607,-19.928326311826368,-20.124222115502562,-2.380042322961117,0.06166287828887107,0.16094224296341508,-0.29316186023457574],"issued_joint_targets_rad":[-1.9763777815069357,-1.5847870609494432,1.3178607265963893,-1.3039059555715944,-1.5708857096979911,-0.405500918690448],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.820000000000612,"joint_targets_rad":[-1.9763777815069357,-1.5847870609494432,1.3178607265963893,-1.3039059555715944,-1.5708857096979911,-0.405500918690448],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.840000000000619,"qpos":[-1.9447504251130534,-1.5907346196029901,1.3254068975094293,-1.3055220625974906,-1.5708945249409525,-0.3738669800934947,0.0029334311580259515,0.00015639642979835202,0.003194400710214183,-0.0034282109382506643,0.0029335038405726016,0.00015616299493697103,0.0031973491493909713,-0.0034383618515287802,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.370796173005069e-17,-5.304542921470969e-17,-5.2854151081496113e-08],"qvel":[-0.16133681531980426,0.03096587088101045,-0.03815660027769957,0.007766006473154836,-0.0005792541500499616,-0.159775800996333,-2.285941025981603e-05,1.3746036347475357e-05,0.00017268073440006692,0.00020850631502796035,-1.4373026534748062e-05,-1.816115589973959e-05,-9.689407224926894e-05,-0.00010664168691321848,7.201624194946923e-17,-7.25223226339262e-17,6.598355046193611e-15,3.973984330487408e-16,1.0687204977351088e-15,-3.010362037184981e-08],"joint_position_rad":[-1.9447504251130534,-1.5907346196029901,1.3254068975094293,-1.3055220625974906,-1.5708945249409525,-0.3738669800934947],"joint_velocity_rad_s":[-0.16133681531980426,0.03096587088101045,-0.03815660027769957,0.007766006473154836,-0.0005792541500499616,-0.159775800996333],"linkage_position_rad":[0.0029334311580259515,0.00015639642979835202,0.003194400710214183,-0.0034282109382506643,0.0029335038405726016,0.00015616299493697103,0.0031973491493909713,-0.0034383618515287802],"tcp_position_m":[0.04691004005757004,0.48629458106437834,0.43491328408478847],"tcp_quaternion_wxyz":[3.4309754244187986e-05,0.7071375812824039,0.7070759775391293,4.413611214945421e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.370796173005069e-17,-5.304542921470969e-17,-5.2854151081496113e-08],"object_linear_velocity_m_s":[7.201624194946923e-17,-7.25223226339262e-17,6.598355046193611e-15],"object_angular_velocity_rad_s":[3.973985492150869e-16,1.0687204524931815e-15,-3.010362037184983e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507343048714,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9763818098702097,-1.594521342451032,1.30771506741356,-1.30872848911112,-1.5708872988286187,-0.40550092090621265,0.0],"actuator_force":[1.271956613608836,-19.95979404848822,-20.12102008065858,-2.379813904130174,0.0615384711719571,0.1606096932743526,-0.2931605877459548],"issued_joint_targets_rad":[-1.9796308899916595,-1.583999875449455,1.3168830053519007,-1.3037161023389268,-1.5708853153182363,-0.4087541961004819],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.840000000000619,"joint_targets_rad":[-1.9796308899916595,-1.583999875449455,1.3168830053519007,-1.3037161023389268,-1.5708853153182363,-0.4087541961004819],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.860000000000626,"qpos":[-1.9480700365932853,-1.5900943450070728,1.324593684285348,-1.3053495686629009,-1.5708941959764435,-0.37718665314105393,0.0029334317291773654,0.0001563946973419148,0.003194404220171819,-0.003428209761417305,0.0029335047515344917,0.0001561648771989648,0.0031973663549156577,-0.0034383577109036207,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.2474572908053065e-17,-5.303777012749503e-17,-5.322716927632289e-08],"qvel":[-0.1610033245821369,0.03171544145971508,-0.038985064931997514,0.007850560418398404,-0.0005778114271530216,-0.15944045314527058,-2.303280824037239e-05,1.3554838582438704e-05,0.00017265883151100636,0.00020882222538269507,-1.4475602570839857e-05,-1.7944680595789124e-05,-9.534378759613131e-05,-0.00010600310417431243,9.383201566997187e-17,-8.61639626467564e-17,6.628886179370807e-15,-8.148396939932107e-16,-1.4375361665792555e-15,-5.496160868805661e-08],"joint_position_rad":[-1.9480700365932853,-1.5900943450070728,1.324593684285348,-1.3053495686629009,-1.5708941959764435,-0.37718665314105393],"joint_velocity_rad_s":[-0.1610033245821369,0.03171544145971508,-0.038985064931997514,0.007850560418398404,-0.0005778114271530216,-0.15944045314527058],"linkage_position_rad":[0.0029334317291773654,0.0001563946973419148,0.003194404220171819,-0.003428209761417305,0.0029335047515344917,0.0001561648771989648,0.0031973663549156577,-0.0034383577109036207],"tcp_position_m":[0.04861772558866043,0.48637271442522617,0.4349840847725587],"tcp_quaternion_wxyz":[3.4216855297441445e-05,0.7071375595220804,0.7070759993043103,4.416076626394047e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.2474572908053065e-17,-5.303777012749503e-17,-5.322716927632289e-08],"object_linear_velocity_m_s":[9.383201566997187e-17,-8.61639626467564e-17,6.628886179370807e-15],"object_angular_velocity_rad_s":[-8.148398411950863e-16,-1.4375360856042018e-15,-5.496160868805665e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507160161136,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9796350154113003,-1.5937472096195777,1.3067377911402807,-1.3085386380979962,-1.57088693218731,-0.408754198316392,0.0],"actuator_force":[1.2713721968248137,-19.991905808895808,-20.117760317335524,-2.379590759387611,0.06141303728202274,0.16027272685801108,-0.2931592819815368],"issued_joint_targets_rad":[-1.9828760761238642,-1.5831963400397444,1.3158850706717717,-1.3035223996362642,-1.570884916026619,-0.4119995534639194],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.860000000000626,"joint_targets_rad":[-1.9828760761238642,-1.5831963400397444,1.3158850706717717,-1.3035223996362642,-1.570884916026619,-0.4119995534639194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.880000000000632,"qpos":[-1.9513826315167344,-1.589438481673563,1.3237628653564228,-1.3051750542939138,-1.5708938631817646,-0.3804993125763538,0.002933432661229583,0.00015639296403865881,0.003194408082305873,-0.003428208947961165,0.002933506023282428,0.00015616677221256425,0.0031973839569892954,-0.003438353939610411,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.036621376082002e-17,-4.782776103299396e-17,-5.3535590158997314e-08],"qvel":[-0.1606652788436806,0.03246882205730663,-0.03982670615250974,0.007944318924391227,-0.0005763513658810035,-0.15910052710539493,-2.321474738598316e-05,1.3358940406684641e-05,0.00017263889255780948,0.0002091584404895487,-1.4584596594423775e-05,-1.7725653249516506e-05,-9.375901070732113e-05,-0.0001053387114870194,1.181866154249037e-16,-1.5609692246666454e-16,6.63027395815159e-15,-7.218993640979088e-15,-3.37815430468446e-15,-1.0034601792958266e-07],"joint_position_rad":[-1.9513826315167344,-1.589438481673563,1.3237628653564228,-1.3051750542939138,-1.5708938631817646,-0.3804993125763538],"joint_velocity_rad_s":[-0.1606652788436806,0.03246882205730663,-0.03982670615250974,0.007944318924391227,-0.0005763513658810035,-0.15910052710539493],"linkage_position_rad":[0.002933432661229583,0.00015639296403865881,0.003194408082305873,-0.003428208947961165,0.002933506023282428,0.00015616677221256425,0.0031973839569892954,-0.003438353939610411],"tcp_position_m":[0.05032541190204698,0.48645116898442226,0.43505559430470603],"tcp_quaternion_wxyz":[3.412311335484906e-05,0.7071375367206522,0.707076022110776,4.418441364151013e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.036621376082002e-17,-4.782776103299396e-17,-5.3535590158997314e-08],"object_linear_velocity_m_s":[1.181866154249037e-16,-1.5609692246666454e-16,6.63027395815159e-15],"object_angular_velocity_rad_s":[-7.218993993083371e-15,-3.378153541846371e-15,-1.0034601792958273e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313506973914044,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9828802986025373,-1.5929570507111837,1.3057403072347984,-1.3083449374578553,-1.57088656046608,-0.41199955567994995,0.0],"actuator_force":[1.2707773658662518,-20.024666898164014,-20.114433782245214,-2.379373474409931,0.061286494430419225,0.15993115874141495,-0.2931579375056985],"issued_joint_targets_rad":[-1.985818079655182,-1.5824368149491057,1.3149443818926367,-1.3033416131548774,-1.5708837662823203,-0.4149424090073401],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.880000000000632,"joint_targets_rad":[-1.985818079655182,-1.5824368149491057,1.3149443818926367,-1.3033416131548774,-1.5708837662823203,-0.4149424090073401],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.900000000000639,"qpos":[-1.9546663837716005,-1.5887703559151205,1.3229214359583332,-1.3050004587218065,-1.5708944903241406,-0.38378044887424795,0.0029334168122810197,0.00015640324446874774,0.003194533430698276,-0.0034280538774114884,0.002933495144828926,0.00015615966729826198,0.003197310829485415,-0.003438465557817945,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.718057460783861e-17,-4.7078917251111904e-17,-5.391622650741149e-08],"qvel":[-0.15894516659984048,0.03297786291131206,-0.04030678229869197,0.007980216704401617,-0.0005651071825776223,-0.1573919204829438,-2.1450452652120196e-05,1.1890377234787597e-05,0.00015695131790604666,0.00019042642342213478,-1.3596180775920363e-05,-1.5413969436204275e-05,-8.250692996450795e-05,-9.588057334156201e-05,5.693035411730846e-17,-6.956891337582471e-17,6.6372128520554985e-15,2.1215772620862095e-15,1.4569324421979327e-15,-1.0871669292327865e-08],"joint_position_rad":[-1.9546663837716005,-1.5887703559151205,1.3229214359583332,-1.3050004587218065,-1.5708944903241406,-0.38378044887424795],"joint_velocity_rad_s":[-0.15894516659984048,0.03297786291131206,-0.04030678229869197,0.007980216704401617,-0.0005651071825776223,-0.1573919204829438],"linkage_position_rad":[0.0029334168122810197,0.00015640324446874774,0.003194533430698276,-0.0034280538774114884,0.002933495144828926,0.00015615966729826198,0.003197310829485415,-0.003438465557817945],"tcp_position_m":[0.052022191531511226,0.48652962347687334,0.43512621346757074],"tcp_quaternion_wxyz":[3.4809074534140726e-05,0.7071384615452943,0.7070750972072968,4.36001552056572e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.718057460783861e-17,-4.7078917251111904e-17,-5.391622650741149e-08],"object_linear_velocity_m_s":[5.693035411730846e-17,-6.956891337582471e-17,6.6372128520554985e-15],"object_angular_velocity_rad_s":[2.1215774202144508e-15,1.456932212179748e-15,-1.0871669292327872e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313506407275142,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9858223325551958,-1.592210960544697,1.3048000859496098,-1.3081642217376226,-1.5708853980508501,-0.4149424111890409,0.0],"actuator_force":[1.2661690727454697,-20.072354423677552,-20.119987097969897,-2.3799031783480586,0.06105685490297219,0.15821089089789098,-0.2931703646883571],"issued_joint_targets_rad":[-1.9857589015126145,-1.5822949221583564,1.3147983556519098,-1.3033344431111056,-1.570875189799889,-0.4148909092014752],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.900000000000639,"joint_targets_rad":[-1.9857589015126145,-1.5822949221583564,1.3147983556519098,-1.3033344431111056,-1.570875189799889,-0.4148909092014752],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.920000000000646,"qpos":[-1.9576778464729405,-1.5881277913053453,1.3221451699199769,-1.3048469333480512,-1.570904552888813,-0.386762654190665,0.002933257645171632,0.00015650485180367462,0.0031955920457200086,-0.003426708228762241,0.002933375665226768,0.0001561009386691674,0.0031965759358248583,-0.003439486212889494,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-7.482417873011995e-17,-5.584296913889346e-17,-5.4403332098776834e-08],"qvel":[-0.14342984904775974,0.030806005117247254,-0.03694298111421614,0.00732344102523745,-0.00044249937270830677,-0.14206912807177052,-2.8537446513582837e-06,1.052498973259248e-06,6.307307528510247e-06,1.2032646473062996e-06,-2.7132701997677663e-06,2.3745111577490105e-06,3.6375426129652736e-06,-5.526516942259633e-06,7.057802997368751e-17,-9.189339231064739e-17,6.6302739581515905e-15,1.5968341089100532e-15,1.4394184030661603e-15,-1.984892268936685e-08],"joint_position_rad":[-1.9576778464729405,-1.5881277913053453,1.3221451699199769,-1.3048469333480512,-1.570904552888813,-0.386762654190665],"joint_velocity_rad_s":[-0.14342984904775974,0.030806005117247254,-0.03694298111421614,0.00732344102523745,-0.00044249937270830677,-0.14206912807177052],"linkage_position_rad":[0.002933257645171632,0.00015650485180367462,0.0031955920457200086,-0.003426708228762241,0.002933375665226768,0.0001561009386691674,0.0031965759358248583,-0.003439486212889494],"tcp_position_m":[0.05358541447653313,0.48660519867461666,0.43517962048988124],"tcp_quaternion_wxyz":[4.3423383792397e-05,0.7071488047365054,0.7070647528730906,3.6313297306156374e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-7.482417873011995e-17,-5.584296913889346e-17,-5.4403332098776834e-08],"object_linear_velocity_m_s":[7.057802997368751e-17,-9.189339231064739e-17,6.6302739581515905e-15],"object_angular_velocity_rad_s":[1.5968342677452052e-15,1.4394182263496013e-15,-1.9848922689366863e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931350269912547,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9857625131810643,-1.5920801466813699,1.3046546125075287,-1.3081577679080787,-1.570876419957117,-0.41489091102405884,0.0],"actuator_force":[1.2026062028562592,-20.22711279894793,-20.20392237920987,-2.3877613825375192,0.05831640311885167,0.14278439048015912,-0.2933038304456644],"issued_joint_targets_rad":[-1.9857093466225462,-1.5821768506439746,1.3146763593148934,-1.3033279350317524,-1.5708679289831031,-0.41484832565317276],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.920000000000646,"joint_targets_rad":[-1.9857093466225462,-1.5821768506439746,1.3146763593148934,-1.3033279350317524,-1.5708679289831031,-0.41484832565317276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.940000000000652,"qpos":[-1.9603937943917011,-1.5875340539930614,1.321432798043991,-1.3047065329507277,-1.570911909481107,-0.38945488821722407,0.0029332500530342156,0.00015651054425034214,0.0031954708375821423,-0.0034269190590203802,0.0029333587333938353,0.00015612392199596217,0.0031966031724179815,-0.003439417285692522,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-8.400588687410266e-17,-3.341579723987206e-17,-5.482596696782736e-08],"qvel":[-0.12932181463030165,0.02833414965144586,-0.033951248951275756,0.0066841444288782085,-0.0003121392839947808,-0.12825620676164315,-5.08823849075173e-07,-1.3731607449681573e-06,-8.533706262463719e-06,-1.0246193672807057e-05,-7.348464222639155e-07,1.9916167366245744e-06,1.3068435125208433e-05,1.1605115690964219e-05,4.286026492716098e-17,-1.2299895715967568e-16,6.6566417549864384e-15,-8.83883927751911e-17,2.222416966313101e-15,-3.6239120353531564e-08],"joint_position_rad":[-1.9603937943917011,-1.5875340539930614,1.321432798043991,-1.3047065329507277,-1.570911909481107,-0.38945488821722407],"joint_velocity_rad_s":[-0.12932181463030165,0.02833414965144586,-0.033951248951275756,0.0066841444288782085,-0.0003121392839947808,-0.12825620676164315],"linkage_position_rad":[0.0029332500530342156,0.00015651054425034214,0.0031954708375821423,-0.0034269190590203802,0.0029333587333938353,0.00015612392199596217,0.0031966031724179815,-0.003439417285692522],"tcp_position_m":[0.05499762003916521,0.4866740880315754,0.43522661093595016],"tcp_quaternion_wxyz":[5.111183145912307e-05,0.7071571878544198,0.7070563685401212,2.7572903022061566e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-8.400588687410266e-17,-3.341579723987206e-17,-5.482596696782736e-08],"object_linear_velocity_m_s":[4.286026492716098e-17,-1.2299895715967568e-16,6.6566417549864384e-15],"object_angular_velocity_rad_s":[-8.838814666095442e-17,2.2224169699164487e-15,-3.62391203535316e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313503942709447,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9857123470266307,-1.5919725736526469,1.3045330811966422,-1.3081518347709014,-1.570868805678977,-0.4148483271816935,0.0],"actuator_force":[1.0916205822618394,-20.2106991797491,-20.21893411418705,-2.3910653529746924,0.05276582946441977,0.12890119392960742,-0.2933242209700459],"issued_joint_targets_rad":[-1.9856691695141975,-1.5820804162954718,1.3145762800538459,-1.3033217687336744,-1.5708614094448055,-0.41481443162210574],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.940000000000652,"joint_targets_rad":[-1.9856691695141975,-1.5820804162954718,1.3145762800538459,-1.3033217687336744,-1.5708614094448055,-0.41481443162210574],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.960000000000659,"qpos":[-1.9628428633408863,-1.58698957160142,1.3207789746783334,-1.3045785028819759,-1.570916863752169,-0.3918857801555006,0.0029332594766321163,0.0001564910108870605,0.0031952629953939703,-0.0034271312314772756,0.002933358687300388,0.00015614442979753097,0.0031967136279016403,-0.0034392572729980754,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-8.455571192278555e-17,-2.674883510591268e-17,-5.521439578210382e-08],"qvel":[-0.11661148895934477,0.0259604614040333,-0.03116616995538995,0.0060951749244929085,-0.0002020177783318562,-0.11580716320748755,-6.24172894082866e-08,-1.6019888873866516e-06,-8.883512259114404e-06,-8.706440537587906e-06,-2.790923823936719e-07,1.730791029756754e-06,1.248239111969855e-05,1.062659499497978e-05,5.680746410165973e-17,-1.5416367862928008e-16,6.707989569875354e-15,-2.6109920197490553e-15,-1.0149226119484766e-15,-6.616348224789238e-08],"joint_position_rad":[-1.9628428633408863,-1.58698957160142,1.3207789746783334,-1.3045785028819759,-1.570916863752169,-0.3918857801555006],"joint_velocity_rad_s":[-0.11661148895934477,0.0259604614040333,-0.03116616995538995,0.0060951749244929085,-0.0002020177783318562,-0.11580716320748755],"linkage_position_rad":[0.0029332594766321163,0.0001564910108870605,0.0031952629953939703,-0.0034271312314772756,0.002933358687300388,0.00015614442979753097,0.0031967136279016403,-0.0034392572729980754],"tcp_position_m":[0.05627279276301311,0.4867364342969249,0.43526990465428356],"tcp_quaternion_wxyz":[5.7049165999976584e-05,0.7071636134263072,0.7070499418007902,1.9767132236515187e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-8.455571192278555e-17,-2.674883510591268e-17,-5.521439578210382e-08],"object_linear_velocity_m_s":[5.680746410165973e-17,-1.5416367862928008e-16,6.707989569875354e-15],"object_angular_velocity_rad_s":[-2.6109921282861274e-15,-1.0149223348087788e-15,-6.616348224789243e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931350489795261,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9856716505162821,-1.5918859606157605,1.3044334081223194,-1.308146133915739,-1.5708619891132327,-0.4148144329106165,0.0],"actuator_force":[0.9870212329465176,-20.17696259029435,-20.224665129871937,-2.3933330093308314,0.047639097301384936,0.11638994319082485,-0.29332920064826623],"issued_joint_targets_rad":[-1.985636786047336,-1.5820016870602054,1.3144942263723434,-1.3033160205689789,-1.5708554314096141,-0.4147877121505651],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.960000000000659,"joint_targets_rad":[-1.985636786047336,-1.5820016870602054,1.3144942263723434,-1.3033160205689789,-1.5708554314096141,-0.4147877121505651],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.980000000000666,"qpos":[-1.9650515572458553,-1.5864915641428572,1.3201796732608588,-1.3044617865211374,-1.5709197984642682,-0.39408107466733844,0.002933272526184009,0.0001564709843427573,0.0031950714187271097,-0.003427321039665186,0.0029333630018061503,0.00015616247847063234,0.003196823146203545,-0.003439112429628588,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-6.853152903759243e-17,-2.344675606574488e-17,-5.546536963040219e-08],"qvel":[-0.10516625214967673,0.023735734220482984,-0.028567261538232892,0.0055580214436166,-0.00010984772356426706,-0.10458430378618074,1.588959556659649e-07,-1.4076949260665881e-06,-8.063488731884196e-06,-8.098525917024944e-06,-6.2590329811549e-08,1.4636800947947143e-06,1.0809670904529824e-05,9.264282283854315e-06,2.735072701070145e-17,-8.471838571781807e-17,6.713540684998481e-15,3.4695674652177613e-15,9.721127508900213e-16,-7.168271477724752e-09],"joint_position_rad":[-1.9650515572458553,-1.5864915641428572,1.3201796732608588,-1.3044617865211374,-1.5709197984642682,-0.39408107466733844],"joint_velocity_rad_s":[-0.10516625214967673,0.023735734220482984,-0.028567261538232892,0.0055580214436166,-0.00010984772356426706,-0.10458430378618074],"linkage_position_rad":[0.002933272526184009,0.0001564709843427573,0.0031950714187271097,-0.003427321039665186,0.0029333630018061503,0.00015616247847063234,0.003196823146203545,-0.003439112429628588],"tcp_position_m":[0.05742416087212,0.48679277145352023,0.435310045075451],"tcp_quaternion_wxyz":[6.138951813065893e-05,0.7071683499861304,0.7070452042396801,1.3072454971780473e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-6.853152903759243e-17,-2.344675606574488e-17,-5.546536963040219e-08],"object_linear_velocity_m_s":[2.735072701070145e-17,-8.471838571781807e-17,6.713540684998481e-15],"object_angular_velocity_rad_s":[3.469567573391074e-15,9.721123650258272e-16,-7.168271477724759e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135057064103,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9856388329864174,-1.59181636510709,1.3043517128488515,-1.3081407639319635,-1.5708557625101596,-0.41478771324269215,0.0],"actuator_force":[0.8919493787466308,-20.143895616658483,-20.229016208721532,-2.395290849774824,0.043002749410788965,0.10511109094122162,-0.2933322579276372],"issued_joint_targets_rad":[-1.9856107757017807,-1.5819374004903857,1.3144269378544202,-1.3033107167639255,-1.5708499505164504,-0.4147668091406419],"issued_gripper_0_255":0.0,"command":{"t_seconds":6.980000000000666,"joint_targets_rad":[-1.9856107757017807,-1.5819374004903857,1.3144269378544202,-1.3033107167639255,-1.5708499505164504,-0.4147668091406419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.000000000000672,"qpos":[-1.9670437571076538,-1.5860368729663876,1.319631085548411,-1.304355378338163,-1.5709210521712327,-0.39606391778135663,0.0029332871021630967,0.00015645307166138077,0.003194900515760739,-0.0034274951711381857,0.002933369494418612,0.00015617814647511546,0.0031969220673097746,-0.003438983757796796,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-4.890110472184228e-17,-2.6046982564685242e-17,-5.5923584498604864e-08],"qvel":[-0.09485836979006693,0.021665300833759827,-0.026149357367867592,0.005068503078083683,-3.331384777879374e-05,-0.09446386274624255,3.030846048958744e-07,-1.2246342117344682e-06,-7.289689093908115e-06,-7.500133578766849e-06,8.563150764623131e-08,1.2452157118749754e-06,9.273806169545529e-06,8.04409786188095e-06,3.062466097113755e-17,-6.383096299375257e-17,6.7135406849984796e-15,2.387993038222756e-15,9.605943900689925e-16,-1.308745350432643e-08],"joint_position_rad":[-1.9670437571076538,-1.5860368729663876,1.319631085548411,-1.304355378338163,-1.5709210521712327,-0.39606391778135663],"joint_velocity_rad_s":[-0.09485836979006693,0.021665300833759827,-0.026149357367867592,0.005068503078083683,-3.331384777879374e-05,-0.09446386274624255],"linkage_position_rad":[0.0029332871021630967,0.00015645307166138077,0.003194900515760739,-0.0034274951711381857,0.002933369494418612,0.00015617814647511546,0.0031969220673097746,-0.003438983757796796],"tcp_position_m":[0.05846373128653683,0.4868436401379266,0.435347292451304],"tcp_quaternion_wxyz":[6.436934939710098e-05,0.7071716574279132,0.7070418960234806,7.40043160086566e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-4.890110472184228e-17,-2.6046982564685242e-17,-5.5923584498604864e-08],"object_linear_velocity_m_s":[3.062466097113755e-17,-6.383096299375257e-17,6.7135406849984796e-15],"object_angular_velocity_rad_s":[2.387993146344284e-15,9.605941216987447e-16,-1.3087453504326441e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931350643673692,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9856124616253237,-1.591760536855731,1.3042847423474226,-1.3081357680726602,-1.5708500733653188,-0.41476681007166977,0.0],"actuator_force":[0.805938880686881,-20.11344811219078,-20.232943454829638,-2.39704517505686,0.038820787734834994,0.09494012946765906,-0.29333477340964814],"issued_joint_targets_rad":[-1.9855899555891958,-1.5818848927652884,1.3143717385185159,-1.303305859700081,-1.57084493678802,-0.4147505956576211],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.000000000000672,"joint_targets_rad":[-1.9855899555891958,-1.5818848927652884,1.3143717385185159,-1.303305859700081,-1.57084493678802,-0.4147505956576211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.020000000000679,"qpos":[-1.9688409286953887,-1.5856223502028741,1.3191295286493725,-1.3042583620616663,-1.5709209188213589,-0.3978551278611489,0.0029333024348688497,0.00015643711543239752,0.0031947479627786246,-0.0034276544490731745,0.0029333774099923,0.00015619186033847805,0.003197010633162077,-0.003438869907469533,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.319893839327969e-17,-1.66641865513495e-17,-5.6383950829084347e-08],"qvel":[-0.08557251688703453,0.019746739326646362,-0.02390707565657787,0.0046222537226413216,2.966905180024134e-05,-0.08533499954608754,4.042457898986019e-07,-1.0666144227238798e-06,-6.58819706542254e-06,-6.924124784934366e-06,1.943461187978794e-07,1.0640779475916191e-06,7.966649628053643e-06,6.985642160074852e-06,1.993251437246964e-17,-7.367402501575004e-17,6.7177040213408225e-15,1.0549943978444486e-15,8.620995049098962e-16,-2.3894385105273406e-08],"joint_position_rad":[-1.9688409286953887,-1.5856223502028741,1.3191295286493725,-1.3042583620616663,-1.5709209188213589,-0.3978551278611489],"joint_velocity_rad_s":[-0.08557251688703453,0.019746739326646362,-0.02390707565657787,0.0046222537226413216,2.966905180024134e-05,-0.08533499954608754],"linkage_position_rad":[0.0029333024348688497,0.00015643711543239752,0.0031947479627786246,-0.0034276544490731745,0.0029333774099923,0.00015619186033847805,0.003197010633162077,-0.003438869907469533],"tcp_position_m":[0.059402354179829225,0.4868895437563167,0.4353818561257744],"tcp_quaternion_wxyz":[6.620655245324431e-05,0.7071737646557836,0.7070397882667534,2.6386240142853935e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.319893839327969e-17,-1.66641865513495e-17,-5.6383950829084347e-08],"object_linear_velocity_m_s":[1.993251437246964e-17,-7.367402501575004e-17,6.7177040213408225e-15],"object_angular_velocity_rad_s":[1.0549944958579558e-15,8.620993833980751e-16,-2.3894385105273426e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931350710358172,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855913421226046,-1.5917158345651992,1.304229826463728,-1.3081311623254075,-1.5708448847548133,-0.4147505964561094,0.0],"actuator_force":[0.7281799003822016,-20.085664455308688,-20.23657410865826,-2.3986255041347704,0.03505012809262098,0.0857656571284906,-0.29333698520260093],"issued_joint_targets_rad":[-1.9855733518781824,-1.581841992861199,1.3143264378536437,-1.3033014371287837,-1.5708403603698213,-0.414738148008026],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.020000000000679,"joint_targets_rad":[-1.9855733518781824,-1.581841992861199,1.3143264378536437,-1.3033014371287837,-1.5708403603698213,-0.414738148008026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.040000000000686,"qpos":[-1.9704623678394313,-1.5852449415719494,1.3186714640197772,-1.304169905980333,-1.5709196523088111,-0.39947343833289584,0.002933318091480003,0.00015642290228844104,0.003194611699533279,-0.0034277999991923404,0.0029333862753623107,0.00015620390519667946,0.0031970899338387457,-0.003438769167079706,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-6.550032669046434e-17,-3.5371651969695424e-17,-5.683038779457403e-08],"qvel":[-0.07720534560494673,0.01797504873299902,-0.021833580577063656,0.004215307378439143,8.095000834979952e-05,-0.07709843082286573,4.744873973446319e-07,-9.306648132664269e-07,-5.950160289023808e-06,-6.379562629465663e-06,2.7384765558638476e-07,9.118684503324816e-07,6.861552556411343e-06,6.07563316348473e-06,6.109299332217232e-17,-1.0226853359213811e-16,6.59141615228971e-15,-1.2119602186015386e-15,-1.985633987630956e-15,-4.3625113118454025e-08],"joint_position_rad":[-1.9704623678394313,-1.5852449415719494,1.3186714640197772,-1.304169905980333,-1.5709196523088111,-0.39947343833289584],"joint_velocity_rad_s":[-0.07720534560494673,0.01797504873299902,-0.021833580577063656,0.004215307378439143,8.095000834979952e-05,-0.07709843082286573],"linkage_position_rad":[0.002933318091480003,0.00015642290228844104,0.003194611699533279,-0.0034277999991923404,0.0029333862753623107,0.00015620390519667946,0.0031970899338387457,-0.003438769167079706],"tcp_position_m":[0.06024982847678424,0.48693094514587504,0.43541392464202505],"tcp_quaternion_wxyz":[6.709172615478704e-05,0.7071748705030145,0.7070386821284964,-1.3202745860923111e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-6.550032669046434e-17,-3.5371651969695424e-17,-5.683038779457403e-08],"object_linear_velocity_m_s":[6.109299332217232e-17,-1.0226853359213811e-16,6.59141615228971e-15],"object_angular_velocity_rad_s":[-1.2119604412040467e-15,-1.9856338555935255e-15,-4.362511311845407e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507712575654,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985574490711734,-1.5916801161266632,1.3041847794374044,-1.3081269453901916,-1.570840161038052,-0.41473814869710324,0.0],"actuator_force":[0.6578924973732683,-20.060368602627022,-20.239936933920035,-2.4000504427731357,0.03165063454468964,0.07748790018288787,-0.29333896001738036],"issued_joint_targets_rad":[-1.9855601656370034,-1.5818069315471759,1.3142892434357445,-1.3032974277708562,-1.570836190935367,-0.41472871220891805],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.040000000000686,"joint_targets_rad":[-1.9855601656370034,-1.5818069315471759,1.3142892434357445,-1.3032974277708562,-1.570836190935367,-0.41472871220891805],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.060000000000692,"qpos":[-1.9719254259511825,-1.5849017212031662,1.3182535197636804,-1.3040892545001688,-1.570917471148138,-0.4009357139517502,0.0029333337696528738,0.00015641023323321004,0.003194489939537235,-0.003427932908372546,0.0029333957431740536,0.00015621450720926748,0.0031971610226259896,-0.0034386799689601916,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-5.5439298087500915e-17,-4.758725640650357e-17,-5.7174260360076654e-08],"qvel":[-0.06966428146279581,0.01634379600554493,-0.019920912531619,0.0038441057305968105,0.00012216087653661928,-0.06966516860273905,5.211106921381322e-07,-8.136782792072418e-07,-5.3699314251632825e-06,-5.867654326064395e-06,3.308086640968098e-07,7.835158019588301e-07,5.926717983804828e-06,5.292157932894836e-06,1.2065561507173997e-16,-8.138462791644475e-17,6.767664057448953e-15,7.555864903352244e-16,-5.320949861898076e-15,-7.964843984117593e-08],"joint_position_rad":[-1.9719254259511825,-1.5849017212031662,1.3182535197636804,-1.3040892545001688,-1.570917471148138,-0.4009357139517502],"joint_velocity_rad_s":[-0.06966428146279581,0.01634379600554493,-0.019920912531619,0.0038441057305968105,0.00012216087653661928,-0.06966516860273905],"linkage_position_rad":[0.0029333337696528738,0.00015641023323321004,0.003194489939537235,-0.003427932908372546,0.0029333957431740536,0.00015621450720926748,0.0031971610226259896,-0.0034386799689601916],"tcp_position_m":[0.061015002801991285,0.4869682682379376,0.4354436712629507],"tcp_quaternion_wxyz":[6.719005398425618e-05,0.7071751470113623,0.7070384055438741,-4.574889540568993e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-5.5439298087500915e-17,-4.758725640650357e-17,-5.7174260360076654e-08],"object_linear_velocity_m_s":[1.2065561507173997e-16,-8.138462791644475e-17,6.767664057448953e-15],"object_angular_velocity_rad_s":[7.555858894729757e-16,-5.320949957129551e-15,-7.964843984117602e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508267840553,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855610999518152,-1.591651645236356,1.3041478127609827,-1.3081231048059259,-1.5708358670974791,-0.41472871280732687,0.0],"actuator_force":[0.5943645838528937,-20.037366468597156,-20.243048992747845,-2.401335725938111,0.028585937675757123,0.07001743248557091,-0.2933407352381276],"issued_joint_targets_rad":[-1.9738461736403419,-1.5958530548395582,1.3766327473603308,-1.3512995843966453,-1.5708287345352712,-0.40304497261506134],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.060000000000692,"joint_targets_rad":[-1.9738461736403419,-1.5958530548395582,1.3766327473603308,-1.3512995843966453,-1.5708287345352712,-0.40304497261506134],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.080000000000699,"qpos":[-1.9725273570632569,-1.5854249017637496,1.3193052356449777,-1.3054748683365487,-1.5709543246901214,-0.40137648801997666,0.002927840798173471,0.0001541433407927898,0.0031982424662313855,-0.0034133627940332693,0.002929826831795678,0.00015885518671132168,0.0032205536567073843,-0.0034317212176914434,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.7114208992445294e-17,-5.1392087043802504e-17,-5.747638586464132e-08],"qvel":[-0.009316946209419457,-0.0566681107890406,0.11581660298357106,-0.1364609023995991,1.3509276147218789e-05,-0.0084241764435727,-0.00044761297208818724,-0.00013262238975932542,-0.001081451155272667,0.0001524352614016108,-0.0004571638782804342,1.0561765430778596e-05,8.320691300195472e-05,0.0012071011191271924,6.048519706231929e-17,-4.810608102027885e-17,6.195899199767001e-15,2.0727868632322283e-15,1.948024652630531e-15,-8.629256202380261e-09],"joint_position_rad":[-1.9725273570632569,-1.5854249017637496,1.3193052356449777,-1.3054748683365487,-1.5709543246901214,-0.40137648801997666],"joint_velocity_rad_s":[-0.009316946209419457,-0.0566681107890406,0.11581660298357106,-0.1364609023995991,1.3509276147218789e-05,-0.0084241764435727],"linkage_position_rad":[0.002927840798173471,0.0001541433407927898,0.0031982424662313855,-0.0034133627940332693,0.002929826831795678,0.00015885518671132168,0.0032205536567073843,-0.0034317212176914434],"tcp_position_m":[0.06133689581952018,0.48697509398237326,0.4353263888394825],"tcp_quaternion_wxyz":[-7.620921246121654e-05,0.7072320834475533,0.7069813396531356,0.00039964590138192983],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.7114208992445294e-17,-5.1392087043802504e-17,-5.747638586464132e-08],"object_linear_velocity_m_s":[6.048519706231929e-17,-4.810608102027885e-17,6.195899199767001e-15],"object_angular_velocity_rad_s":[2.072787088050001e-15,1.9480244137173887e-15,-8.629256202380271e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313217439271344,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9738455075384376,-1.6056880183499087,1.3341474126358535,-1.3381253542838327,-1.5708279629907616,-0.40304497060268657,0.0],"actuator_force":[1.0904775334065562,-17.858988856702126,-16.64228721167683,-2.679152733682031,0.0618299220652716,0.008176353002312453,-0.28835949724661436],"issued_joint_targets_rad":[-1.9743867323255444,-1.5958091740281857,1.3768943277514312,-1.3516107778826636,-1.5708265929881875,-0.4035852276249789],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.080000000000699,"joint_targets_rad":[-1.9743867323255444,-1.5958091740281857,1.3768943277514312,-1.3516107778826636,-1.5708265929881875,-0.4035852276249789],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.100000000000706,"qpos":[-1.9727020680021992,-1.5866683316225163,1.3229573076714392,-1.3094312842009224,-1.5709437719816124,-0.4015856742539639,0.0029145439747128056,0.00015314211086275462,0.0031848100806080707,-0.0033993167561611973,0.0029156754522664118,0.00015651737748389766,0.0032055324026846405,-0.003405376309286922,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-3.624529942126488e-17,-6.466762345286241e-17,-5.796678953503333e-08],"qvel":[-0.008048068606598577,-0.06273521169864986,0.2418792025808661,-0.22161920330072657,0.000550771607357077,-0.010099259751507519,-0.000814687120602614,6.608950742013079e-05,0.0001274162662805141,0.0013957670578230547,-0.0009029849516175194,-0.00021476127605306268,-0.0015832981706378189,0.0009875687845368774,7.860101934200413e-17,-4.655312097650341e-17,6.6677439852326925e-15,1.5196506045314965e-15,1.713647840659518e-15,-1.5754842666953677e-08],"joint_position_rad":[-1.9727020680021992,-1.5866683316225163,1.3229573076714392,-1.3094312842009224,-1.5709437719816124,-0.4015856742539639],"joint_velocity_rad_s":[-0.008048068606598577,-0.06273521169864986,0.2418792025808661,-0.22161920330072657,0.000550771607357077,-0.010099259751507519],"linkage_position_rad":[0.0029145439747128056,0.00015314211086275462,0.0031848100806080707,-0.0033993167561611973,0.0029156754522664118,0.00015651737748389766,0.0032055324026846405,-0.003405376309286922],"tcp_position_m":[0.06146427772443394,0.4870707977504412,0.43456247998594644],"tcp_quaternion_wxyz":[-0.0003706987303097372,0.7072195055694895,0.7069930619182477,0.0011153133900750837],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-3.624529942126488e-17,-6.466762345286241e-17,-5.796678953503333e-08],"object_linear_velocity_m_s":[7.860101934200413e-17,-4.655312097650341e-17,6.6677439852326925e-15],"object_angular_velocity_rad_s":[1.5196508052384719e-15,1.713647663338897e-15,-1.5754842666953693e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313301017235662,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9743837421478103,-1.6056333730801209,1.3641422895497775,-1.3564389726458173,-1.5708258221374423,-0.4035852257838914,0.0],"actuator_force":[-0.14412084858304297,-12.83599823574923,-14.381717275669871,-1.3419238923747798,0.0038977613494353136,0.010150210187049424,-0.2829226109878602],"issued_joint_targets_rad":[-1.9745448780961452,-1.5959593729585837,1.3790197173296639,-1.3535966770092296,-1.5708223572577678,-0.40374337568963664],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.100000000000706,"joint_targets_rad":[-1.9745448780961452,-1.5959593729585837,1.3790197173296639,-1.3535966770092296,-1.5708223572577678,-0.40374337568963664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.120000000000712,"qpos":[-1.9728558950496569,-1.5877208516881007,1.328196649386665,-1.3136998048918507,-1.5709324969106948,-0.4017917613220253,0.0029124570196575276,0.00015591097120302787,0.003175387229186662,-0.0034049686008033966,0.0029122261194062774,0.0001551028908170626,0.003176100291948427,-0.003413842227801452,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-2.784109557051697e-17,-8.953358056420528e-17,-5.8399514206587065e-08],"qvel":[-0.007755918096711584,-0.04314712435037785,0.25623766264990494,-0.20105839614493085,0.0005899089179975392,-0.00985789990306031,0.0002479692237419369,0.00012762133156984815,-0.0002386050985788027,-0.0009243635754593147,0.00022060160359490072,6.311856456827508e-05,-0.0005021237509613758,-0.0009000103277366988,1.222251848257983e-16,-3.585752755822826e-17,6.623335064247687e-15,9.284289142652879e-16,-1.0780228896868693e-16,-2.8764364116606836e-08],"joint_position_rad":[-1.9728558950496569,-1.5877208516881007,1.328196649386665,-1.3136998048918507,-1.5709324969106948,-0.4017917613220253],"joint_velocity_rad_s":[-0.007755918096711584,-0.04314712435037785,0.25623766264990494,-0.20105839614493085,0.0005899089179975392,-0.00985789990306031],"linkage_position_rad":[0.0029124570196575276,0.00015591097120302787,0.003175387229186662,-0.0034049686008033966,0.0029122261194062774,0.0001551028908170626,0.003176100291948427,-0.003413842227801452],"tcp_position_m":[0.061535808820782606,0.4870607286046784,0.43297797795773996],"tcp_quaternion_wxyz":[-0.0003910096542588398,0.7072009946894263,0.70701150985498,0.001151153472502991],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-2.784109557051697e-17,-8.953358056420528e-17,-5.8399514206587065e-08],"object_linear_velocity_m_s":[1.222251848257983e-16,-3.585752755822826e-17,6.623335064247687e-15],"object_angular_velocity_rad_s":[9.284289068248329e-16,-1.0780239900994458e-16,-2.876436411660687e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313658612989575,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9745405716506677,-1.6057770830123335,1.3688625964251857,-1.3584229718193754,-1.570821561612547,-0.4037433749090768,0.0],"actuator_force":[-0.2669859633369924,-18.853612908314062,-21.163170982920747,-2.2557438492692654,-0.0035232427258051757,0.0099831967802686,-0.2935770110898744],"issued_joint_targets_rad":[-1.9746938413417887,-1.5967641095174643,1.3839294630804513,-1.357703606112648,-1.5708218810416916,-0.40389247964935143],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.120000000000712,"joint_targets_rad":[-1.9746938413417887,-1.5967641095174643,1.3839294630804513,-1.357703606112648,-1.5708218810416916,-0.40389247964935143],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.140000000000719,"qpos":[-1.973026770779814,-1.5886007379232663,1.3334829263991657,-1.3178822954384084,-1.5709215436568134,-0.401992431398077,0.0029159815043353614,0.00015663021992157907,0.00317581032694153,-0.003412831894650313,0.0029158161928199175,0.0001559036362078679,0.0031767590017891833,-0.003422043725648786,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-2.3428001579944964e-17,-9.448982668013424e-17,-5.8809704889213415e-08],"qvel":[-0.00817887213140143,-0.04031303961923606,0.25541740659211126,-0.20027514705990596,0.0004874051338826676,-0.009596929147093739,0.00028954535659504206,4.943949169052056e-05,0.0001606972735012338,-0.00043995358890825363,0.0002720291002615321,-1.095441226025667e-06,-9.008139282226035e-05,-0.000495324470373636,1.5250587543779213e-16,-3.7360104540772394e-17,6.16536806658981e-15,6.946259916127495e-17,-1.3055908758138278e-15,-5.251646497029412e-08],"joint_position_rad":[-1.973026770779814,-1.5886007379232663,1.3334829263991657,-1.3178822954384084,-1.5709215436568134,-0.401992431398077],"joint_velocity_rad_s":[-0.00817887213140143,-0.04031303961923606,0.25541740659211126,-0.20027514705990596,0.0004874051338826676,-0.009596929147093739],"linkage_position_rad":[0.0029159815043353614,0.00015663021992157907,0.00317581032694153,-0.003412831894650313,0.0029158161928199175,0.0001559036362078679,0.0031767590017891833,-0.003422043725648786],"tcp_position_m":[0.06161977066559767,0.4870590934868459,0.43127852915211157],"tcp_quaternion_wxyz":[-0.00035400899114017265,0.7071905444039482,0.7070221466294923,0.0010453509964071564],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-2.3428001579944964e-17,-9.448982668013424e-17,-5.8809704889213415e-08],"object_linear_velocity_m_s":[1.5250587543779213e-16,-3.7360104540772394e-17,6.16536806658981e-15],"object_angular_velocity_rad_s":[6.946245552298952e-17,-1.3055908864446824e-15,-5.2516464970294195e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313706499289057,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.97468944789515,-1.6065738688065174,1.3737620539509974,-1.362529068807848,-1.5708210535654326,-0.40389247917154764,0.0],"actuator_force":[-0.05380537811151953,-19.821045918807613,-21.608707533181132,-2.295871978729224,0.001504532302192274,0.009669027974041455,-0.29439775714204686],"issued_joint_targets_rad":[-1.974858540987394,-1.5975916423690182,1.3891619757324591,-1.3621085330712877,-1.5708221983580706,-0.40405729291232156],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.140000000000719,"joint_targets_rad":[-1.974858540987394,-1.5975916423690182,1.3891619757324591,-1.3621085330712877,-1.5708221983580706,-0.40405729291232156],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.160000000000726,"qpos":[-1.9732009119533467,-1.5894602612571442,1.3387645125046246,-1.3220802939163274,-1.570912034038738,-0.40218958737249755,0.0029192297257266873,0.00015665331131407262,0.003178744617214806,-0.0034160379489858632,0.0029190955719555238,0.00015597962354454772,0.0031798396594039826,-0.0034254516798771077,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-1.7182078269467156e-17,-8.490503390321497e-17,-5.910440467816988e-08],"qvel":[-0.0081817761615897,-0.03994147187701146,0.2552642041486654,-0.20128820821254934,0.0004312764613172018,-0.009433506902453688,0.0002643471115210313,4.4402250405869704e-05,0.00017295212329577402,-0.0003776860199112704,0.0002424494918406248,-1.4406649260479576e-05,-0.00010521826745556126,-0.0004122946127900743,2.361365396733266e-16,-3.5365172723213915e-17,5.715727741616622e-15,-3.901577970609106e-16,-8.191955075964212e-15,-9.588180297663021e-08],"joint_position_rad":[-1.9732009119533467,-1.5894602612571442,1.3387645125046246,-1.3220802939163274,-1.570912034038738,-0.40218958737249755],"joint_velocity_rad_s":[-0.0081817761615897,-0.03994147187701146,0.2552642041486654,-0.20128820821254934,0.0004312764613172018,-0.009433506902453688],"linkage_position_rad":[0.0029192297257266873,0.00015665331131407262,0.003178744617214806,-0.0034160379489858632,0.0029190955719555238,0.00015597962354454772,0.0031798396594039826,-0.0034254516798771077],"tcp_position_m":[0.06170674915517531,0.48705964732578516,0.4295710372438492],"tcp_quaternion_wxyz":[-0.0003163476106689548,0.7071824831474275,0.7070303758425004,0.0009397284924959508],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-1.7182078269467156e-17,-8.490503390321497e-17,-5.910440467816988e-08],"object_linear_velocity_m_s":[2.361365396733266e-16,-3.5365172723213915e-17,5.715727741616622e-15],"object_angular_velocity_rad_s":[-3.9015874914046893e-16,-8.191955033138976e-15,-9.588180297663035e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313682068378923,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9748541308152985,-1.6073933586883344,1.3789844811422225,-1.3669332699960033,-1.570821339083521,-0.4040572927246877,0.0],"actuator_force":[-0.0337272592678346,-19.88960611157563,-21.66574438427051,-2.2976672185828875,0.0022198314767365446,0.00949801415029583,-0.29445024790091884],"issued_joint_targets_rad":[-1.9750269810036276,-1.5983993185155554,1.3943917142991593,-1.3665305308570592,-1.5708225155258178,-0.4042258254387792],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.160000000000726,"joint_targets_rad":[-1.9750269810036276,-1.5983993185155554,1.3943917142991593,-1.3665305308570592,-1.5708225155258178,-0.4042258254387792],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.1800000000007325,"qpos":[-1.973374730855738,-1.590313808928739,1.3440416668172603,-1.3262993401849876,-1.570903494319287,-0.40238398204190823,0.002921932884463997,0.00015665439785629684,0.0031814164941982182,-0.0034186023780895035,0.0029217990086338463,0.00015598208376700658,0.0031825079480862052,-0.0034280234647250077,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-1.462926140865658e-17,-8.709749594568514e-17,-5.946810719589214e-08],"qvel":[-0.008158276719877755,-0.039693962291804316,0.2550360953231953,-0.2023103626852993,0.00038612735687010156,-0.009302875290596752,0.0002381060510988452,4.441511008694654e-05,0.00015224695531033245,-0.0003531298661875265,0.00021596457155756332,-1.470993739999652e-05,-0.00012750587637320703,-0.00038655658916814854,1.0740634896328768e-16,-1.7405970817737138e-17,5.679645493316305e-15,4.759301197852533e-16,3.613628977012005e-15,-1.0388008160379272e-08],"joint_position_rad":[-1.973374730855738,-1.590313808928739,1.3440416668172603,-1.3262993401849876,-1.570903494319287,-0.40238398204190823],"joint_velocity_rad_s":[-0.008158276719877755,-0.039693962291804316,0.2550360953231953,-0.2023103626852993,0.00038612735687010156,-0.009302875290596752],"linkage_position_rad":[0.002921932884463997,0.00015665439785629684,0.0031814164941982182,-0.0034186023780895035,0.0029217990086338463,0.00015598208376700658,0.0031825079480862052,-0.0034280234647250077],"tcp_position_m":[0.06179389793314953,0.4870603359679583,0.427862764504218],"tcp_quaternion_wxyz":[-0.0002819205178555226,0.7071752704663009,0.7070377261332256,0.0008433185006102116],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-1.462926140865658e-17,-8.709749594568514e-17,-5.946810719589214e-08],"object_linear_velocity_m_s":[1.0740634896328768e-16,-1.7405970817737138e-17,5.679645493316305e-15],"object_angular_velocity_rad_s":[4.759305513861403e-16,3.61362892010272e-15,-1.0388008160379286e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931365779211868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9750225624504278,-1.608192924543093,1.3842042908833367,-1.3713546211390237,-1.570821627364286,-0.4042258255138044,0.0],"actuator_force":[-0.03235250142870427,-19.88064631198631,-21.68918999712514,-2.2966042084881337,0.0023207418133779356,0.009365793111584253,-0.2944569477681742],"issued_joint_targets_rad":[-1.975195681549006,-1.5991884448763476,1.3996005997851986,-1.3709503410172974,-1.5708227814402862,-0.40439460707135694],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.1800000000007325,"joint_targets_rad":[-1.975195681549006,-1.5991884448763476,1.3996005997851986,-1.3709503410172974,-1.5708227814402862,-0.40439460707135694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.200000000000739,"qpos":[-1.9735480180670333,-1.59116133837171,1.3493126450044268,-1.3305376369528201,-1.5708958001767477,-0.40257592043528223,0.0029241519754053323,0.00015665412758209796,0.0031836339609345793,-0.0034207072942163117,0.0029240174359264023,0.00015598159373026794,0.0031847126790456775,-0.0034301335703961866,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,-9.933445407790793e-18,-7.301406199608202e-17,-5.993354233027766e-08],"qvel":[-0.008135135344037233,-0.03939916655236248,0.25472687481098255,-0.2032269209345731,0.0003459830658695771,-0.009185912927443581,0.00021600323385534412,4.4319389714211965e-05,0.00013191855807570242,-0.00033158967032059653,0.000193917252102461,-1.4534956121418727e-05,-0.00014704096947783672,-0.0003651533986288985,9.347172273473631e-17,-1.3750906074527135e-17,5.672706599412395e-15,4.803230121581737e-16,2.775259410341464e-15,-1.8965879602076598e-08],"joint_position_rad":[-1.9735480180670333,-1.59116133837171,1.3493126450044268,-1.3305376369528201,-1.5708958001767477,-0.40257592043528223],"joint_velocity_rad_s":[-0.008135135344037233,-0.03939916655236248,0.25472687481098255,-0.2032269209345731,0.0003459830658695771,-0.009185912927443581],"linkage_position_rad":[0.0029241519754053323,0.00015665412758209796,0.0031836339609345793,-0.0034207072942163117,0.0029240174359264023,0.00015598159373026794,0.0031847126790456775,-0.0034301335703961866],"tcp_position_m":[0.06188101490882868,0.4870610183397327,0.42615438374220843],"tcp_quaternion_wxyz":[-0.00025076196498457993,0.7071687264382159,0.7070443818080631,0.0007560554487614821],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,-9.933445407790793e-18,-7.301406199608202e-17,-5.993354233027766e-08],"object_linear_velocity_m_s":[9.347172273473631e-17,-1.3750906074527135e-17,5.672706599412395e-15],"object_angular_velocity_rad_s":[4.803233475899774e-16,2.775259352389736e-15,-1.8965879602076624e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313637554328548,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9751912563561846,-1.608973903220932,1.3894034049997912,-1.375773852678818,-1.5708218672359873,-0.4043946073831748,0.0],"actuator_force":[-0.03242244068769651,-19.86546307749859,-21.709229933663664,-2.2954157695415915,0.002368163793221356,0.009247818798087337,-0.2944580729963758],"issued_joint_targets_rad":[-1.9753643861519627,-1.5999590919736766,1.4047870347607887,-1.3753662938974283,-1.5708229976772619,-0.4045633833432321],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.200000000000739,"joint_targets_rad":[-1.9753643861519627,-1.5999590919736766,1.4047870347607887,-1.3753662938974283,-1.5708229976772619,-0.4045633833432321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.220000000000746,"qpos":[-1.9737208072979495,-1.5920017398636168,1.3545758799123024,-1.3347930072238812,-1.5708888635325353,-0.4027656386923342,0.0029259707733883806,0.0001566534023394545,0.00318545497285548,-0.003422430235305613,0.002925835663948743,0.00015598087602187568,0.003186522258669972,-0.00343186149470283,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,2.5724563913296907e-18,-4.2946574843555996e-17,-6.039266893273065e-08],"qvel":[-0.008114521736148739,-0.03904757269855651,0.2543430691141847,-0.20403803290688985,0.00030995257205311056,-0.009080137541606725,0.000197853311233877,4.427457149132491e-05,0.00011525331973554525,-0.000314001891844683,0.00017582229766272944,-1.4298501689738637e-05,-0.00016275386400979765,-0.00034756264990047533,5.978209659026227e-17,4.812805275875584e-18,5.667155484289268e-15,7.92887233074317e-16,2.4055073505146643e-15,-3.462690667229363e-08],"joint_position_rad":[-1.9737208072979495,-1.5920017398636168,1.3545758799123024,-1.3347930072238812,-1.5708888635325353,-0.4027656386923342],"joint_velocity_rad_s":[-0.008114521736148739,-0.03904757269855651,0.2543430691141847,-0.20403803290688985,0.00030995257205311056,-0.009080137541606725],"linkage_position_rad":[0.0029259707733883806,0.0001566534023394545,0.00318545497285548,-0.003422430235305613,0.002925835663948743,0.00015598087602187568,0.003186522258669972,-0.00343186149470283],"tcp_position_m":[0.06196808930637009,0.48706168606932343,0.4244459435255257],"tcp_quaternion_wxyz":[-0.00022258636293863567,0.7071627816500219,0.7070504170163856,0.0006771272176638622],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,2.5724563913296907e-18,-4.2946574843555996e-17,-6.039266893273065e-08],"object_linear_velocity_m_s":[5.978209659026227e-17,4.812805275875584e-18,5.667155484289268e-15],"object_angular_velocity_rad_s":[7.928875265985445e-16,2.40550725492365e-15,-3.4626906672293676e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313620905358373,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9753599553919214,-1.6097363890770644,1.3945802286664348,-1.380189288085578,-1.5708220600060032,-0.4045633838684936,0.0],"actuator_force":[-0.032487493484495644,-19.850269347472477,-21.728530137409507,-2.2943371401594277,0.002406506060765423,0.009141166080979701,-0.2944586999113392],"issued_joint_targets_rad":[-1.975533076350891,-1.6007113246757871,1.4099511191027654,-1.3797784122711463,-1.5708231698531372,-0.4047321370394017],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.220000000000746,"joint_targets_rad":[-1.975533076350891,-1.6007113246757871,1.4099511191027654,-1.3797784122711463,-1.5708231698531372,-0.4047321370394017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.2400000000007525,"qpos":[-1.9738931490578593,-1.5928339232097173,1.3598299726627119,-1.3390634490752487,-1.570882607419314,-0.4029533475383446,0.002927461286007212,0.00015665271501109028,0.003186949504040488,-0.0034238415513561846,0.0029273256842203958,0.00015598047079379575,0.0031880074256180335,-0.0034332770456416877,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,3.2431523999854464e-18,-4.025880039538522e-17,-6.076381724343925e-08],"qvel":[-0.008096372088547823,-0.03864377357637647,0.2538927813401366,-0.20475371457434607,0.0002775801897047417,-0.008984397456632619,0.00018298485841968456,4.423598785931983e-05,0.00010182016446296202,-0.00029956045880258505,0.0001610084813258336,-1.4056690672882631e-05,-0.00017523658969131168,-0.00033312514976797594,8.862686708158028e-17,-2.6889138204393534e-18,5.6296854572081686e-15,-3.6486983129449864e-16,-2.5375832667793416e-15,-6.32199872006105e-08],"joint_position_rad":[-1.9738931490578593,-1.5928339232097173,1.3598299726627119,-1.3390634490752487,-1.570882607419314,-0.4029533475383446],"joint_velocity_rad_s":[-0.008096372088547823,-0.03864377357637647,0.2538927813401366,-0.20475371457434607,0.0002775801897047417,-0.008984397456632619],"linkage_position_rad":[0.002927461286007212,0.00015665271501109028,0.003186949504040488,-0.0034238415513561846,0.0029273256842203958,0.00015598047079379575,0.0031880074256180335,-0.0034332770456416877],"tcp_position_m":[0.06205512697436959,0.4870623423111329,0.422737440992906],"tcp_quaternion_wxyz":[-0.00019710858667308683,0.7071573812571031,0.7070558905532373,0.0006057357252333617],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,3.2431523999854464e-18,-4.025880039538522e-17,-6.076381724343925e-08],"object_linear_velocity_m_s":[8.862686708158028e-17,-2.6889138204393534e-18,5.6296854572081686e-15],"object_angular_velocity_rad_s":[-3.6487013459066646e-16,-2.5375832220274955e-15,-6.32199872006106e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313607222481929,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9755286409273884,-1.6104804682474063,1.3997348642506036,-1.3846009441425449,-1.5708222110311247,-0.4047321377571052,0.0],"actuator_force":[-0.032434903639114054,-19.835580644827587,-21.74732936027158,-2.293376076213576,0.0024401751242066894,0.009044636282965257,-0.294459315210108],"issued_joint_targets_rad":[-1.9757017537914805,-1.6014452018750998,1.4150930864241347,-1.3841868589550248,-1.5708233032375536,-0.40490087083475235],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.2400000000007525,"joint_targets_rad":[-1.9757017537914805,-1.6014452018750998,1.4150930864241347,-1.3841868589550248,-1.5708233032375536,-0.40490087083475235],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.260000000000759,"qpos":[-1.9740650904750654,-1.5936569019917366,1.3650736811156903,-1.3433471649532096,-1.5708769629340094,-0.4031392376615779,0.002928682742167264,0.00015665208048858028,0.0031881763246151217,-0.0034249975807343585,0.0029285467255011238,0.000155980389328167,0.0031892268623593648,-0.0034344367045298137,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,1.5313352815666907e-18,-3.790949560819993e-17,-6.105791289573268e-08],"qvel":[-0.008080453235266516,-0.03819301980113193,0.25338347637663444,-0.20538384562321182,0.0002484884778977958,-0.008897743008103236,0.00017080857657814224,4.419786982079931e-05,9.105101409558507e-05,-0.00028767935051073485,0.00014888573571431005,-1.381917070651499e-05,-0.00018507702095988,-0.00032125119962147033,7.77665789338918e-17,1.8599364598936293e-17,5.470090897418303e-15,1.3981524115084003e-15,-5.722737916883667e-16,-1.1542373159318675e-07],"joint_position_rad":[-1.9740650904750654,-1.5936569019917366,1.3650736811156903,-1.3433471649532096,-1.5708769629340094,-0.4031392376615779],"joint_velocity_rad_s":[-0.008080453235266516,-0.03819301980113193,0.25338347637663444,-0.20538384562321182,0.0002484884778977958,-0.008897743008103236],"linkage_position_rad":[0.002928682742167264,0.00015665208048858028,0.0031881763246151217,-0.0034249975807343585,0.0029285467255011238,0.000155980389328167,0.0031892268623593648,-0.0034344367045298137],"tcp_position_m":[0.06214213453718091,0.4870629908361318,0.4210288696725083],"tcp_quaternion_wxyz":[-0.0001740686827611955,0.7071524759736928,0.7070608549313772,0.0005411543941080491],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,1.5313352815666907e-18,-3.790949560819993e-17,-6.105791289573268e-08],"object_linear_velocity_m_s":[7.77665789338918e-17,1.8599364598936293e-17,5.470090897418303e-15],"object_angular_velocity_rad_s":[1.398152350376016e-15,-5.722739620713952e-16,-1.1542373159318693e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313595971252686,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.97569731449398,-1.611206218750855,1.4048675475643022,-1.389008978269085,-1.5708223253465006,-0.4049008717260067,0.0],"actuator_force":[-0.032266743722630054,-19.821425597784128,-21.765657653430026,-2.292522095616505,0.0024699459645489696,0.008957268595935375,-0.29445994494488165],"issued_joint_targets_rad":[-1.9758704217885847,-1.6021607785459235,1.4202131710832444,-1.3885918025920807,-1.5708234024679604,-0.4050695889242453],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.260000000000759,"joint_targets_rad":[-1.9758704217885847,-1.6021607785459235,1.4202131710832444,-1.3885918025920807,-1.5708234024679604,-0.4050695889242453],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.280000000000766,"qpos":[-1.9742366740767572,-1.594469790461532,1.370305904285836,-1.3476425454711054,-1.5708718682320033,-0.4033234818671148,0.002929683698875731,0.00015665148403489957,0.003189183728080291,-0.0034259444099958543,0.002929547337472878,0.0001559805880287516,0.0031902286660800954,-0.0034353866194534936,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,6.5624758623332785e-18,-2.932295006669533e-17,-6.149574260358219e-08],"qvel":[-0.008066541975134223,-0.03770012876470253,0.2528218693077706,-0.20593740121727572,0.00022234183954777858,-0.008819322564453268,0.00016083902887076133,4.41602407874872e-05,8.246526446196519e-05,-0.00027789753114806654,0.00013896855626417578,-1.3586086888042214e-05,-0.0001927564743016833,-0.0003114788065556855,3.8465820229548496e-17,6.188785547895303e-18,5.589439872565508e-15,2.0912445130938564e-16,1.5449378626440498e-15,-1.250521609385803e-08],"joint_position_rad":[-1.9742366740767572,-1.594469790461532,1.370305904285836,-1.3476425454711054,-1.5708718682320033,-0.4033234818671148],"joint_velocity_rad_s":[-0.008066541975134223,-0.03770012876470253,0.2528218693077706,-0.20593740121727572,0.00022234183954777858,-0.008819322564453268],"linkage_position_rad":[0.002929683698875731,0.00015665148403489957,0.003189183728080291,-0.0034259444099958543,0.002929547337472878,0.0001559805880287516,0.0031902286660800954,-0.0034353866194534936],"tcp_position_m":[0.06222911812262791,0.4870636351732506,0.41932022347189857],"tcp_quaternion_wxyz":[-0.0001532315557852058,0.7071480209377399,0.7070653576433223,0.0004827262661543883],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,6.5624758623332785e-18,-2.932295006669533e-17,-6.149574260358219e-08],"object_linear_velocity_m_s":[3.8465820229548496e-17,6.188785547895303e-18,5.589439872565508e-15],"object_angular_velocity_rad_s":[2.091246420569663e-16,1.544937837087644e-15,-1.250521609385805e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313586711816638,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9758659793073354,-1.6119137127742602,1.4099785148885917,-1.3934135542309114,-1.5708224073789894,-0.4050695899720527,0.0],"actuator_force":[-0.0319936711025548,-19.807793119575763,-21.783526517596783,-2.2917642581753626,0.00249624255229719,0.008878203976394161,-0.29446058974310513],"issued_joint_targets_rad":[-1.9760390836185915,-1.602858106192662,1.4253115978966873,-1.3929934068690215,-1.570823471608087,-0.40523829534204797],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.280000000000766,"joint_targets_rad":[-1.9760390836185915,-1.602858106192662,1.4253115978966873,-1.3929934068690215,-1.570823471608087,-0.40523829534204797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.3000000000007725,"qpos":[-1.9744079381348598,-1.595271794030572,1.3755256678877317,-1.3519481511422038,-1.5708672677820001,-0.403506236783586,0.002930503952348862,0.0001566509135590236,0.0031900113054683706,-0.003426719811378897,0.0029303673090826303,0.00015598102737106586,0.0031910522408158384,-0.0034361646159627697,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,1.8716772899394582e-17,-3.878263254161009e-17,-6.19356280589979e-08],"qvel":[-0.008054437043375662,-0.03716944107533695,0.25221398688143887,-0.20642247508644437,0.0001988396709186126,-0.00874836538961995,0.00015267809341970676,4.412317533801255e-05,7.566720709651815e-05,-0.0002698367136205028,0.00013085889597520028,-1.3357130075410306e-05,-0.0001986694698039663,-0.00030342969434189374,5.1611514064117566e-17,2.4519780001956013e-17,5.526989827430342e-15,2.562832171328698e-16,5.381483876415691e-16,-2.2831366627017415e-08],"joint_position_rad":[-1.9744079381348598,-1.595271794030572,1.3755256678877317,-1.3519481511422038,-1.5708672677820001,-0.403506236783586],"joint_velocity_rad_s":[-0.008054437043375662,-0.03716944107533695,0.25221398688143887,-0.20642247508644437,0.0001988396709186126,-0.00874836538961995],"linkage_position_rad":[0.002930503952348862,0.0001566509135590236,0.0031900113054683706,-0.003426719811378897,0.0029303673090826303,0.00015598102737106586,0.0031910522408158384,-0.0034361646159627697],"tcp_position_m":[0.06231608331728297,0.487064278575584,0.4176114969483724],"tcp_quaternion_wxyz":[-0.0001343847513789225,0.7071439752796589,0.7070694417019927,0.0004298577103485389],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,1.8716772899394582e-17,-3.878263254161009e-17,-6.19356280589979e-08],"object_linear_velocity_m_s":[5.1611514064117566e-17,2.4519780001956013e-17,5.526989827430342e-15],"object_angular_velocity_rad_s":[2.5628328556490605e-16,5.381483567501007e-16,-2.283136662701745e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313579083729545,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9760346385553211,-1.612603017311643,1.4150679927152785,-1.397814831306733,-1.5708224610032608,-0.40523829653110977,0.0],"actuator_force":[-0.031626023572698614,-19.794670132007468,-21.800945097481872,-2.2910925736200625,0.0025194222778281983,0.008806665200125963,-0.29446124801854917],"issued_joint_targets_rad":[-1.9762077423553757,-1.6035372330301652,1.430388582028664,-1.397391830116201,-1.5708235142232028,-0.40540699381676404],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.3000000000007725,"joint_targets_rad":[-1.9762077423553757,-1.6035372330301652,1.430388582028664,-1.397391830116201,-1.5708235142232028,-0.40540699381676404],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.320000000000779,"qpos":[-1.9745789170923644,-1.5960622001342468,1.3807321113057551,-1.3562626956051163,-1.5708631117125043,-0.4036876443851279,0.002931176117178509,0.0001566503596257054,0.0031906915027541606,-0.003427354739254886,0.0029310392483755444,0.00015598167329265603,0.0031917298635557264,-0.0034368016972032866,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,2.472353736948101e-17,-3.927150718770511e-17,-6.236220384197152e-08],"qvel":[-0.00804395776249863,-0.03660486040488462,0.2515652358295199,-0.2068463609530176,0.00017771245180527452,-0.008684173222370141,0.0001459994550323575,4.40867399141884e-05,7.033242045485411e-05,-0.0002631868384218563,0.00012423051047017565,-1.3132011305649294e-05,-0.00020313922290816588,-0.0002967937353928512,5.632248329730156e-17,3.101824034196079e-17,5.510336482060964e-15,2.8650479221976534e-16,-8.293062316104331e-17,-4.168430982278818e-08],"joint_position_rad":[-1.9745789170923644,-1.5960622001342468,1.3807321113057551,-1.3562626956051163,-1.5708631117125043,-0.4036876443851279],"joint_velocity_rad_s":[-0.00804395776249863,-0.03660486040488462,0.2515652358295199,-0.2068463609530176,0.00017771245180527452,-0.008684173222370141],"linkage_position_rad":[0.002931176117178509,0.0001566503596257054,0.0031906915027541606,-0.003427354739254886,0.0029310392483755444,0.00015598167329265603,0.0031917298635557264,-0.0034368016972032866],"tcp_position_m":[0.062403035216114636,0.48706492405110546,0.41590268527000285],"tcp_quaternion_wxyz":[-0.00011733628959970671,0.707140301775917,0.7070731460768567,0.0003820123496383891],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,2.472353736948101e-17,-3.927150718770511e-17,-6.236220384197152e-08],"object_linear_velocity_m_s":[5.632248329730156e-17,3.101824034196079e-17,5.510336482060964e-15],"object_angular_velocity_rad_s":[2.8650478515030226e-16,-8.293065683401633e-17,-4.168430982278825e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313572791731485,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9762032952326662,-1.6132741945155429,1.420136197663445,-1.402212963843618,-1.5708224896148284,-0.4054069951333076,0.0],"actuator_force":[-0.03117317560418087,-19.782044600638528,-21.817921616428066,-2.2904980239491124,0.002539803657441553,0.008741948147161338,-0.2944619181052153],"issued_joint_targets_rad":[-1.97637640087207,-1.6041982041167566,1.4354443295758803,-1.4017872256567063,-1.5708235334462965,-0.4055756877888804],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.320000000000779,"joint_targets_rad":[-1.97637640087207,-1.6041982041167566,1.4354443295758803,-1.4017872256567063,-1.5708235334462965,-0.4055756877888804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.340000000000786,"qpos":[-1.9747496419548283,-1.5968403699498708,1.385924475870749,-1.3605850304723646,-1.5708593552282044,-0.4038678333683611,0.0029317269221754106,0.00015664981510200976,0.0031912509094633563,-0.003427874560956378,0.002931589878267775,0.00015598249656427005,0.0031922879717428657,-0.0034373232746307885,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,3.1100348362023306e-17,-2.815399555599998e-17,-6.274660667436127e-08],"qvel":[-0.008034941995357009,-0.03600989598048881,0.2508804650007079,-0.20721563068265378,0.00015871844835762446,-0.008626113409295526,0.00014053567274266253,4.4050983009063926e-05,6.619505069132012e-05,-0.00025769377750295246,0.000118816023111627,-1.291047631835149e-05,-0.00020643047751137884,-0.0002913167376402468,3.708311442047872e-17,7.451172813275985e-17,5.4173553037486065e-15,2.9361343568399942e-15,1.5696855157130639e-15,-7.610502313715533e-08],"joint_position_rad":[-1.9747496419548283,-1.5968403699498708,1.385924475870749,-1.3605850304723646,-1.5708593552282044,-0.4038678333683611],"joint_velocity_rad_s":[-0.008034941995357009,-0.03600989598048881,0.2508804650007079,-0.20721563068265378,0.00015871844835762446,-0.008626113409295526],"linkage_position_rad":[0.0029317269221754106,0.00015664981510200976,0.0031912509094633563,-0.003427874560956378,0.002931589878267775,0.00015598249656427005,0.0031922879717428657,-0.0034373232746307885],"tcp_position_m":[0.06248997847474245,0.48706557439565507,0.4141937841569443],"tcp_quaternion_wxyz":[-0.00010191269309730516,0.707136966534057,0.7070765060821718,0.0003387055404080594],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,3.1100348362023306e-17,-2.815399555599998e-17,-6.274660667436127e-08],"object_linear_velocity_m_s":[3.708311442047872e-17,7.451172813275985e-17,5.4173553037486065e-15],"object_angular_velocity_rad_s":[2.936134558110177e-15,1.5696851519819043e-15,-7.610502313715546e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313567593979558,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.976371952141782,-1.613927301984145,1.425183337088885,-1.406608101565728,-1.5708224961942336,-0.405575689220504,0.0],"actuator_force":[-0.030643575764315756,-19.769905676352664,-21.834463564011003,-2.2899724784164164,0.0025576721495781385,0.008683414858069227,-0.29446259850143075],"issued_joint_targets_rad":[-1.9765450618551967,-1.6048410614839521,1.4404790381878294,-1.4061797422041495,-1.5708235320348358,-0.40574438043794797],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.340000000000786,"joint_targets_rad":[-1.9765450618551967,-1.6048410614839521,1.4404790381878294,-1.4061797422041495,-1.5708235320348358,-0.40574438043794797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.360000000000793,"qpos":[-1.974920140642299,-1.5976057309288165,1.3911020943153805,-1.3649141316672457,-1.5708559580877954,-0.4040469203999402,0.002932178272491258,0.00015664927469599582,0.0031917113156110302,-0.003428300065120134,0.00293204109860658,0.00015598347208637759,0.003192748218617167,-0.0034377501767976298,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,3.2009269315012635e-17,-1.391080277280243e-17,-6.303529115532623e-08],"qvel":[-0.008027244236223701,-0.035387701505692704,0.2501640214819216,-0.20753620526597485,0.00014164079103764997,-0.008573612740872502,0.00013606755838628192,4.4015936252907645e-05,6.303725067389952e-05,-0.0002531492359722544,0.00011439630398826657,-1.2692304298366735e-05,-0.00020876007008531735,-0.00028679034517937996,2.0163380942521918e-17,3.8361744045135134e-17,5.395150843256101e-15,-1.3586626481475688e-15,1.0876808591821956e-15,-8.245356020132664e-09],"joint_position_rad":[-1.974920140642299,-1.5976057309288165,1.3911020943153805,-1.3649141316672457,-1.5708559580877954,-0.4040469203999402],"joint_velocity_rad_s":[-0.008027244236223701,-0.035387701505692704,0.2501640214819216,-0.20753620526597485,0.00014164079103764997,-0.008573612740872502],"linkage_position_rad":[0.002932178272491258,0.00015664927469599582,0.0031917113156110302,-0.003428300065120134,0.00293204109860658,0.00015598347208637759,0.003192748218617167,-0.0034377501767976298],"tcp_position_m":[0.06257691735745052,0.4870662322233764,0.4124847898269151],"tcp_quaternion_wxyz":[-8.795720415444056e-05,0.7071339387033487,0.7070795537261266,0.0002994993819612954],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,3.2009269315012635e-17,-1.391080277280243e-17,-6.303529115532623e-08],"object_linear_velocity_m_s":[2.0163380942521918e-17,3.8361744045135134e-17,5.395150843256101e-15],"object_angular_velocity_rad_s":[-1.3586625107936018e-15,1.0876810309974357e-15,-8.245356020132679e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931356329239489,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9765406119060442,-1.6145623930300077,1.430209609726454,-1.4110003899354981,-1.5708224833620175,-0.40574438197348234,0.0],"actuator_force":[-0.030044833000829385,-19.758243600105743,-21.850577770621385,-2.28950860752866,0.0025732837851819568,0.008630487316196422,-0.2944632878667647],"issued_joint_targets_rad":[-1.9767137278196658,-1.605465844257073,1.4454928976397579,-1.4105695242317278,-1.5708235124193832,-0.4059130747084871],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.360000000000793,"joint_targets_rad":[-1.9767137278196658,-1.605465844257073,1.4454928976397579,-1.4105695242317278,-1.5708235124193832,-0.4059130747084871],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.380000000000799,"qpos":[-1.9750904383050563,-1.5983577700664695,1.3962643812911906,-1.36924908710518,-1.570852884136494,-0.4042250112470111,0.0029325481200820707,0.00015664873456687625,0.0031920905779546224,-0.0034286482880058525,0.0029324108565751596,0.00015598457826763562,0.003193128337946658,-0.003438099476049489,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,2.574291505446915e-17,-1.0537237245530194e-17,-6.350387764309858e-08],"qvel":[-0.008020733897910089,-0.03474111029980108,0.24941980112674536,-0.20781341887470642,0.00012628487114121654,-0.008526151872517028,0.00013241547046299016,4.398161806835081e-05,6.068051650105423e-05,-0.00024938248385419074,0.00011079176429985952,-1.247730296806986e-05,-0.00021030558511190618,-0.0002830437720555488,1.4260545027126295e-17,3.4232147859401367e-17,5.443723100583452e-15,-1.0327438310364126e-15,4.026988596696601e-16,-1.5053937881037065e-08],"joint_position_rad":[-1.9750904383050563,-1.5983577700664695,1.3962643812911906,-1.36924908710518,-1.570852884136494,-0.4042250112470111],"joint_velocity_rad_s":[-0.008020733897910089,-0.03474111029980108,0.24941980112674536,-0.20781341887470642,0.00012628487114121654,-0.008526151872517028],"linkage_position_rad":[0.0029325481200820707,0.00015664873456687625,0.0031920905779546224,-0.0034286482880058525,0.0029324108565751596,0.00015598457826763562,0.003193128337946658,-0.003438099476049489],"tcp_position_m":[0.06266385578075352,0.4870668999944746,0.41077569894581023],"tcp_quaternion_wxyz":[-7.532817341963452e-05,0.7071311902090258,0.707082318025404,0.00026399820729210036],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,2.574291505446915e-17,-1.0537237245530194e-17,-6.350387764309858e-08],"object_linear_velocity_m_s":[1.4260545027126295e-17,3.4232147859401367e-17,5.443723100583452e-15],"object_angular_velocity_rad_s":[-1.032743779573274e-15,4.026989916111978e-16,-1.505393788103709e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313559724752245,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9767092769840264,-1.615179516926071,1.4352152062828611,-1.4153899704894954,-1.5708224534257387,-0.40591307633787144,0.0],"actuator_force":[-0.02938379877650732,-19.74704959928249,-21.866270467357026,-2.2890998046872255,0.0025868682633927165,0.008582641821533343,-0.2944639850066758],"issued_joint_targets_rad":[-1.976882401123784,-1.606072588765553,1.4504860903477506,-1.4149567123023037,-1.5708234767453064,-0.4060817733341466],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.380000000000799,"joint_targets_rad":[-1.976882401123784,-1.606072588765553,1.4504860903477506,-1.4149567123023037,-1.5708234767453064,-0.4060817733341466],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.400000000000806,"qpos":[-1.9752605576069509,-1.5990960278375026,1.4014108248406172,-1.3735890855871629,-1.570850100887324,-0.4044022018016352,0.002932851177096161,0.00015664819201156838,0.003192403329917261,-0.0034289331907046065,0.002932713860027346,0.00015598579650235938,0.0031934428525725437,-0.0034383851660893298,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,3.948620904787908e-17,-1.1791489575540421e-17,-6.397216315566411e-08],"qvel":[-0.008015293781011526,-0.03407266697421776,0.24865129399379737,-0.20805207660169184,0.00011247601831230694,-0.008483260272371099,0.00012943217891241547,4.394803685853689e-05,5.897858777455862e-05,-0.00024625357808997806,0.00010785522172527067,-1.2265303926197572e-05,-0.00021121244551011817,-0.0002799370239409604,1.3829164289244779e-17,5.158883093752801e-17,5.465927561075954e-15,3.845848086936288e-18,-1.2047322006422188e-17,-2.748468897799398e-08],"joint_position_rad":[-1.9752605576069509,-1.5990960278375026,1.4014108248406172,-1.3735890855871629,-1.570850100887324,-0.4044022018016352],"joint_velocity_rad_s":[-0.008015293781011526,-0.03407266697421776,0.24865129399379737,-0.20805207660169184,0.00011247601831230694,-0.008483260272371099],"linkage_position_rad":[0.002932851177096161,0.00015664819201156838,0.003192403329917261,-0.0034289331907046065,0.002932713860027346,0.00015598579650235938,0.0031934428525725437,-0.0034383851660893298],"tcp_position_m":[0.06275079735292545,0.48706758004056483,0.4090665085830406],"tcp_quaternion_wxyz":[-6.389760386116951e-05,0.7071286955084596,0.7070848252888219,0.00023184450883559978],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,3.948620904787908e-17,-1.1791489575540421e-17,-6.397216315566411e-08],"object_linear_velocity_m_s":[1.3829164289244779e-17,5.158883093752801e-17,5.465927561075954e-15],"object_angular_velocity_rad_s":[3.845847193720751e-18,-1.2047320327944248e-17,-2.748468897799403e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313556758198278,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9768779496838167,-1.6157787191290764,1.4402003099695422,-1.4197769811384033,-1.5708224084202536,-0.4060817750483172,0.0],"actuator_force":[-0.028666641327163234,-19.736315793461017,-21.88154733966894,-2.2887401154509917,0.002598631703904175,0.0085394038960942,-0.2944646888593638],"issued_joint_targets_rad":[-1.9770510839839284,-1.6066613286437652,1.455458791832236,-1.4193414433640648,-1.5708234269086543,-0.4062504788600576],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.400000000000806,"joint_targets_rad":[-1.9770510839839284,-1.6066613286437652,1.455458791832236,-1.4193414433640648,-1.5708234269086543,-0.4062504788600576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.420000000000813,"qpos":[-1.9754305189797623,-1.5998200927308752,1.406540978727837,-1.3779334067858644,-1.570847579145955,-0.40457857900917094,0.0029330995005295616,0.0001566476452126798,0.0031926615633859757,-0.0034291662141381577,0.002932962162095156,0.00015598711073039028,0.003193703654967347,-0.003438618717293037,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,5.159778239764443e-17,-1.4667819982096125e-18,-6.436410518810244e-08],"qvel":[-0.008010818704909632,-0.033384655984593066,0.24786162521061808,-0.2082565065107499,0.00010005742718935445,-0.008444511645077377,0.00012699701717177873,4.391519317608659e-05,5.781162735725946e-05,-0.00024364781071393657,0.00010546605301303038,-1.2056158989124381e-05,-0.00021159972402795194,-0.00027735534519418543,-2.531075047945857e-18,8.982181965410756e-17,5.381273055448286e-15,2.1476146081709303e-15,1.4545705547682449e-15,-5.018010132542216e-08],"joint_position_rad":[-1.9754305189797623,-1.5998200927308752,1.406540978727837,-1.3779334067858644,-1.570847579145955,-0.40457857900917094],"joint_velocity_rad_s":[-0.008010818704909632,-0.033384655984593066,0.24786162521061808,-0.2082565065107499,0.00010005742718935445,-0.008444511645077377],"linkage_position_rad":[0.0029330995005295616,0.0001566476452126798,0.0031926615633859757,-0.0034291662141381577,0.002932962162095156,0.00015598711073039028,0.003193703654967347,-0.003438618717293037],"tcp_position_m":[0.06283774540989286,0.48706827458787033,0.4073572161711751],"tcp_quaternion_wxyz":[-5.35498349972814e-05,0.7071264313676943,0.7070870993732871,0.0002027152572539931],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,5.159778239764443e-17,-1.4667819982096125e-18,-6.436410518810244e-08],"object_linear_velocity_m_s":[-2.531075047945857e-18,8.982181965410756e-17,5.381273055448286e-15],"object_angular_velocity_rad_s":[2.147614795562388e-15,1.4545702834880144e-15,-5.018010132542226e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313554283940689,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9770466321770677,-1.6163600414824377,1.4451650969821201,-1.4241615564354158,-1.570822350142311,-0.4062504806508484,0.0],"actuator_force":[-0.027898912646833196,-19.72603510928775,-21.89641357568098,-2.2884241737007187,0.002608759103054581,0.008500343669027188,-0.2944653984821599],"issued_joint_targets_rad":[-1.9772197784887584,-1.6072320949228467,1.4604111711354488,-1.423723851016052,-1.5708233645870855,-0.4064191936635259],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.420000000000813,"joint_targets_rad":[-1.9772197784887584,-1.6072320949228467,1.4604111711354488,-1.423723851016052,-1.5708233645870855,-0.4064191936635259],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.440000000000819,"qpos":[-1.9756003408516216,-1.6005295963253707,1.4116544555419834,-1.3822814122167717,-1.5708452926744387,-0.40475422170965797,0.002933302971378448,0.00015664709303669181,0.003192875105511123,-0.003429356733890281,0.002933165640298196,0.00015598850706633667,0.0031939204829160967,-0.003438809531848474,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,5.133171701937486e-17,1.732856080888841e-17,-6.469950825378349e-08],"qvel":[-0.008007214282882901,-0.032679127364516704,0.24705359172535246,-0.20843060656124007,8.888830523940669e-05,-0.008409519786569326,0.00012501108947798,4.388308177322676e-05,5.708145341493975e-05,-0.0002414711557043961,0.00010352540175021622,-1.1849737003998706e-05,-0.00021156490464895345,-0.00027520466674140084,-9.40349613658894e-17,1.1065970792944855e-16,5.379885276667507e-15,2.4139329688025013e-15,7.502975865404728e-15,-9.161619296642147e-08],"joint_position_rad":[-1.9756003408516216,-1.6005295963253707,1.4116544555419834,-1.3822814122167717,-1.5708452926744387,-0.40475422170965797],"joint_velocity_rad_s":[-0.008007214282882901,-0.032679127364516704,0.24705359172535246,-0.20843060656124007,8.888830523940669e-05,-0.008409519786569326],"linkage_position_rad":[0.002933302971378448,0.00015664709303669181,0.003192875105511123,-0.003429356733890281,0.002933165640298196,0.00015598850706633667,0.0031939204829160967,-0.003438809531848474],"tcp_position_m":[0.06292470304786998,0.48706898577852586,0.4056478194695019],"tcp_quaternion_wxyz":[-4.418035390633865e-05,0.7071243766568414,0.7070891619149093,0.0001763185753633432],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,5.133171701937486e-17,1.732856080888841e-17,-6.469950825378349e-08],"object_linear_velocity_m_s":[-9.40349613658894e-17,1.1065970792944855e-16,5.379885276667507e-15],"object_angular_velocity_rad_s":[2.413933936505031e-15,7.50297556244976e-15,-9.161619296642166e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313552212896797,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9772153265126462,-1.6169235224001204,1.450109736932169,-1.4285438278170708,-1.5708222801803347,-0.40641919552357875,0.0],"actuator_force":[-0.027085608895959012,-19.71620120369289,-21.91087390977009,-2.2881471440255154,0.002617416528096328,0.008465071696519999,-0.2944661130399732],"issued_joint_targets_rad":[-1.9773884866129003,-1.6077849161138664,1.4653433911971647,-1.4281040657467743,-1.5708232912665983,-0.40658791997318633],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.440000000000819,"joint_targets_rad":[-1.9773884866129003,-1.6077849161138664,1.4653433911971647,-1.4281040657467743,-1.5708232912665983,-0.40658791997318633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.460000000000826,"qpos":[-1.9757700398522262,-1.6012242088522692,1.4167509204949946,-1.3866325370973973,-1.570843217889713,-0.4049292014003959,0.002933469687326548,0.00015664653487281943,0.0031930520094490206,-0.0034295124329787444,0.002933332389192343,0.0001559899734867222,0.0031941013092568293,-0.003438965316783489,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,4.508019517597192e-17,3.593530834349417e-17,-6.504703029666931e-08],"qvel":[-0.008004395825754343,-0.031957919916206376,0.24622969535863592,-0.2085778869131923,7.884221716994102e-05,-0.008377934829129938,0.00012339334287494598,4.385169299980848e-05,5.670763026291581e-05,-0.000239646540053056,0.00010195225079453621,-1.1645921252338971e-05,-0.00021118778426747027,-0.0002734078747285939,-3.960747328941119e-17,5.554748873070266e-17,5.3854363917906315e-15,-1.8345845028227497e-15,-3.88593760353066e-16,-9.925864247567518e-09],"joint_position_rad":[-1.9757700398522262,-1.6012242088522692,1.4167509204949946,-1.3866325370973973,-1.570843217889713,-0.4049292014003959],"joint_velocity_rad_s":[-0.008004395825754343,-0.031957919916206376,0.24622969535863592,-0.2085778869131923,7.884221716994102e-05,-0.008377934829129938],"linkage_position_rad":[0.002933469687326548,0.00015664653487281943,0.0031930520094490206,-0.0034295124329787444,0.002933332389192343,0.0001559899734867222,0.0031941013092568293,-0.003438965316783489],"tcp_position_m":[0.06301167315307485,0.487069715690202,0.40393831653112844],"tcp_quaternion_wxyz":[-3.569472080091901e-05,0.7071225121629016,0.7070910325378043,0.0001523907329311204],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,4.508019517597192e-17,3.593530834349417e-17,-6.504703029666931e-08],"object_linear_velocity_m_s":[-3.960747328941119e-17,5.554748873070266e-17,5.3854363917906315e-15],"object_angular_velocity_rad_s":[-1.834584554089856e-15,-3.885935207895962e-16,-9.925864247567538e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313550472128346,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9773840346298115,-1.6174691970328605,1.455034393235755,-1.4329239238195095,-1.5708221999401235,-0.4065879218958709,0.0],"actuator_force":[-0.02623122486875218,-19.7068083947006,-21.92493266193378,-2.2879046697369176,0.0026247530777254724,0.008433235175488107,-0.29446683179429195],"issued_joint_targets_rad":[-1.977557210230053,-1.6083198182827716,1.4702556091926833,-1.4324822151488399,-1.5708232082646814,-0.4067566598867512],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.460000000000826,"joint_targets_rad":[-1.977557210230053,-1.6083198182827716,1.4702556091926833,-1.4324822151488399,-1.5708232082646814,-0.4067566598867512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.480000000000833,"qpos":[-1.9759396309972648,-1.6019036351969906,1.421830085844135,-1.3909862830071573,-1.5708413335932025,-0.4051035829271354,0.0029336062845703257,0.00015664597050512777,0.003193198874585704,-0.003429639607338067,0.0029334690421600603,0.00015599149956513345,0.003194252661198836,-0.0034390923896955522,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999989,4.565846200982022e-17,4.618642995356075e-17,-6.549175905396657e-08],"qvel":[-0.008002287360230962,-0.03122268210739203,0.24539217252718054,-0.2087015080690153,6.980560424415145e-05,-0.00834943983992132,0.000122077348001801,4.382101401533356e-05,5.6624265379264366e-05,-0.00023811078422758376,0.00010068020343945378,-1.1444607205086714e-05,-0.00021053366980462317,-0.00027190175281032207,-5.4574090609984706e-17,6.024178209676474e-17,5.324374125436247e-15,-1.3945300461765298e-15,-9.590325101161656e-16,-1.8122121523155564e-08],"joint_position_rad":[-1.9759396309972648,-1.6019036351969906,1.421830085844135,-1.3909862830071573,-1.5708413335932025,-0.4051035829271354],"joint_velocity_rad_s":[-0.008002287360230962,-0.03122268210739203,0.24539217252718054,-0.2087015080690153,6.980560424415145e-05,-0.00834943983992132],"linkage_position_rad":[0.0029336062845703257,0.00015664597050512777,0.003193198874585704,-0.003429639607338067,0.0029334690421600603,0.00015599149956513345,0.003194252661198836,-0.0034390923896955522],"tcp_position_m":[0.06309865842882936,0.4870704663542646,0.4022287056733005],"tcp_quaternion_wxyz":[-2.8007598142752947e-05,0.7071208204186483,0.7070927290428453,0.00013069343140900878],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999989,4.565846200982022e-17,4.618642995356075e-17,-6.549175905396657e-08],"object_linear_velocity_m_s":[-5.4574090609984706e-17,6.024178209676474e-17,5.324374125436247e-15],"object_angular_velocity_rad_s":[-1.3945301734679648e-15,-9.590323258008513e-16,-1.81221215231556e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931354900192042,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9775527583708656,-1.6179970974180413,1.4599392234628878,-1.4373019702728713,-1.570822110667082,-0.40675666186609266,0.0],"actuator_force":[-0.025339803109091008,-19.697851599144542,-21.938593773366392,-2.28769282595556,0.0026309026358148913,0.008404514513500771,-0.2944675540937256],"issued_joint_targets_rad":[-1.9777259511255014,-1.6088368251175065,1.4751479768366615,-1.436858424112227,-1.5708231167504134,-0.4069254153874626],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.480000000000833,"joint_targets_rad":[-1.9777259511255014,-1.6088368251175065,1.4751479768366615,-1.436858424112227,-1.5708231167504134,-0.4069254153874626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.500000000000839,"qpos":[-1.976109127854224,-1.6025676112962517,1.4268917058762773,-1.3953422112691356,-1.5708396207282431,-0.40527742511059983,0.002933718201568629,0.00015664540001070304,0.003193321108960666,-0.0034297434161847345,0.0029335810351287335,0.0001559930762480648,0.00319437988193414,-0.0034391959293390063,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,3.91589290236744e-17,5.4935841496840237e-17,-6.593045993463937e-08],"qvel":[-0.008000820749698337,-0.03047489089922218,0.24454302097329852,-0.208804315262801,6.167645935663259e-05,-0.008323747739600092,0.00012100866067513488,4.3791029805568544e-05,5.677738487630387e-05,-0.00023681209668488117,9.965484532684133e-05,-1.124570078360646e-05,-0.00020965599781296187,-0.00027063447618045386,-7.557765057756566e-17,5.525233323527902e-17,5.708788847712705e-15,-8.805489996585317e-16,-6.495188738231481e-17,-3.3086417495637226e-08],"joint_position_rad":[-1.976109127854224,-1.6025676112962517,1.4268917058762773,-1.3953422112691356,-1.5708396207282431,-0.40527742511059983],"joint_velocity_rad_s":[-0.008000820749698337,-0.03047489089922218,0.24454302097329852,-0.208804315262801,6.167645935663259e-05,-0.008323747739600092],"linkage_position_rad":[0.002933718201568629,0.00015664540001070304,0.003193321108960666,-0.0034297434161847345,0.0029335810351287335,0.0001559930762480648,0.00319437988193414,-0.0034391959293390063],"tcp_position_m":[0.06318566142033077,0.48707123977266015,0.4005189854506255],"tcp_quaternion_wxyz":[-2.1041873316684557e-05,0.7071192855463163,0.7070942675783659,0.00011101135061447835],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,3.91589290236744e-17,5.4935841496840237e-17,-6.593045993463937e-08],"object_linear_velocity_m_s":[-7.557765057756566e-17,5.525233323527902e-17,5.708788847712705e-15],"object_angular_velocity_rad_s":[-8.805490118583998e-16,-6.495176868105557e-17,-3.308641749563722e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313547753388456,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9777214994932566,-1.6185072526144209,1.4648243796516107,-1.4416780904762583,-1.5708220134654933,-0.40692541741807686,0.0],"actuator_force":[-0.024414978185632208,-19.689326276649354,-21.951860838652465,-2.287508077281359,0.0026359854392694615,0.008378620221492383,-0.294468279364878],"issued_joint_targets_rad":[-1.9778947110080398,-1.6093359579877067,1.480020640656031,-1.441232814998511,-1.5708230177619544,-0.4070941883593797],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.500000000000839,"joint_targets_rad":[-1.9778947110080398,-1.6093359579877067,1.480020640656031,-1.441232814998511,-1.5708230177619544,-0.4070941883593797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.520000000000846,"qpos":[-1.9762785426915128,-1.6032159008915492,1.4319355723973377,-1.399699936982735,-1.570838062162418,-0.4054507813144231,0.0029338098951969785,0.00015664482367929122,0.003193423144328368,-0.003429828087187887,0.0029336728226967267,0.00015599469566427817,0.003194487344966308,-0.0034392801809971394,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,3.0356502622981464e-17,5.3672583055437495e-17,-6.634043838822924e-08],"qvel":[-0.007999934906580235,-0.029715868708218133,0.24368402380099322,-0.20888886946734225,5.436314091840582e-05,-0.008300598510951026,0.00012014265949816906,4.3761723776760154e-05,5.7122781628460726e-05,-0.0002357080206913664,9.883158236915953e-05,-1.1049116793275464e-05,-0.00020859848117721276,-0.0002695635576999699,-8.860308019991494e-17,4.595568987972234e-17,6.1431636060972964e-15,-7.479574597768658e-16,7.6740524687467405e-16,-6.040744298600083e-08],"joint_position_rad":[-1.9762785426915128,-1.6032159008915492,1.4319355723973377,-1.399699936982735,-1.570838062162418,-0.4054507813144231],"joint_velocity_rad_s":[-0.007999934906580235,-0.029715868708218133,0.24368402380099322,-0.20888886946734225,5.436314091840582e-05,-0.008300598510951026],"linkage_position_rad":[0.0029338098951969785,0.00015664482367929122,0.003193423144328368,-0.003429828087187887,0.0029336728226967267,0.00015599469566427817,0.003194487344966308,-0.0034392801809971394],"tcp_position_m":[0.06327268453735012,0.48707203793370724,0.3988091546309283],"tcp_quaternion_wxyz":[-1.472786585184094e-05,0.7071178931148832,0.7070956627946094,9.314993210025569e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,3.0356502622981464e-17,5.3672583055437495e-17,-6.634043838822924e-08],"object_linear_velocity_m_s":[-8.860308019991494e-17,4.595568987972234e-17,6.1431636060972964e-15],"object_angular_velocity_rad_s":[-7.47957364441305e-16,7.674053497818366e-16,-6.040744298600083e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313546686517615,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9778902596811336,-1.6189996888228326,1.4696900085900906,-1.4460524053553991,-1.570821909315268,-0.40709419043641515,0.0],"actuator_force":[-0.02346001660953334,-19.681228379279673,-21.96473713489104,-2.287347239597807,0.002640109483195374,0.008355290099075319,-0.2944690071040219],"issued_joint_targets_rad":[-1.9780634915213302,-1.6098172359973115,1.4848737422348612,-1.4456055077981165,-1.5708229122217907,-0.40726298060160826],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.520000000000846,"joint_targets_rad":[-1.9780634915213302,-1.6098172359973115,1.4848737422348612,-1.4456055077981165,-1.5708229122217907,-0.40726298060160826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.540000000000853,"qpos":[-1.9764478866126376,-1.6038482926036324,1.4369615106759364,-1.40405912364322,-1.570836642492196,-0.40562369996001946,0.002933885017895192,0.0001566442419507401,0.003193508612402043,-0.003429897084620005,0.0029337480552556238,0.00015599635096312343,0.003194578629694772,-0.0034393486248162504,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,1.9334582496157356e-17,4.3247436613414925e-17,-6.662145025069568e-08],"qvel":[-0.007999575086647327,-0.028946798685320824,0.24281677108891928,-0.2089574753524665,4.778331057684022e-05,-0.008279756670215958,0.00011944277365627546,4.3733078326972136e-05,5.762425256669803e-05,-0.00023476374946566295,9.817386881313608e-05,-1.0854777625194178e-05,-0.00020739686751524428,-0.0002686541632140419,-1.2299184758607598e-16,1.7726019979091715e-17,6.265288138806065e-15,-1.780851808393905e-15,3.906691379939528e-15,-1.1028873611319879e-07],"joint_position_rad":[-1.9764478866126376,-1.6038482926036324,1.4369615106759364,-1.40405912364322,-1.570836642492196,-0.40562369996001946],"joint_velocity_rad_s":[-0.007999575086647327,-0.028946798685320824,0.24281677108891928,-0.2089574753524665,4.778331057684022e-05,-0.008279756670215958],"linkage_position_rad":[0.002933885017895192,0.0001566442419507401,0.003193508612402043,-0.003429897084620005,0.0029337480552556238,0.00015599635096312343,0.003194578629694772,-0.0034393486248162504],"tcp_position_m":[0.06335973007508598,0.48707286282695433,0.39709921217349364],"tcp_quaternion_wxyz":[-9.002611052179595e-06,0.7071166300098396,0.7070969279835227,7.69333763739605e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,1.9334582496157356e-17,4.3247436613414925e-17,-6.662145025069568e-08],"object_linear_velocity_m_s":[-1.2299184758607598e-16,1.7726019979091715e-17,6.265288138806065e-15],"object_angular_velocity_rad_s":[-1.7808512973944085e-15,3.906691621490127e-15,-1.1028873611319879e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313545768556672,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.978059040556374,-1.6194744294938537,1.4745362520696783,-1.4504250336049236,-1.5708217990865259,-0.407262982720693,0.0],"actuator_force":[-0.022477852814063226,-19.673554306314145,-21.97722564808373,-2.287207445605077,0.002643371777367065,0.008334286684828385,-0.2944697368698878],"issued_joint_targets_rad":[-1.9782322942547204,-1.6102806760304227,1.4897074184337455,-1.4499766202724274,-1.570822800950066,-0.4074317938415847],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.540000000000853,"joint_targets_rad":[-1.9782322942547204,-1.6102806760304227,1.4897074184337455,-1.4499766202724274,-1.570822800950066,-0.4074317938415847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.560000000000859,"qpos":[-1.9766171696769799,-1.6044645972960754,1.441969375795482,-1.4084194782904498,-1.5708353478675596,-0.4057962249933773,0.002933946562846757,0.0001566436553654769,0.0031935804892824163,-0.0034299532471599565,0.0029338097241467676,0.00015599803617637737,0.0031946566652543344,-0.00343940411377407,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,9.708878173389942e-18,4.4128162121729745e-17,-6.70398016975344e-08],"qvel":[-0.007999692256654476,-0.028168738477159304,0.24194267932325236,-0.2090122064951807,4.186298142089886e-05,-0.0082610089764728,0.00011887903050192932,4.3705075404314536e-05,5.825215398848408e-05,-0.00023395074711880646,9.765175506978395e-05,-1.0662612132339125e-05,-0.00020608038002505725,-0.0002678777318531983,-5.386037677348094e-17,1.271823291956768e-17,6.290268156860134e-15,-5.253855415089862e-16,-1.537742222491995e-15,-1.1948881384938995e-08],"joint_position_rad":[-1.9766171696769799,-1.6044645972960754,1.441969375795482,-1.4084194782904498,-1.5708353478675596,-0.4057962249933773],"joint_velocity_rad_s":[-0.007999692256654476,-0.028168738477159304,0.24194267932325236,-0.2090122064951807,4.186298142089886e-05,-0.0082610089764728],"linkage_position_rad":[0.002933946562846757,0.0001566436553654769,0.0031935804892824163,-0.0034299532471599565,0.0029338097241467676,0.00015599803617637737,0.0031946566652543344,-0.00343940411377407],"tcp_position_m":[0.06344680023340074,0.48707371645727016,0.3953891572094571],"tcp_quaternion_wxyz":[-3.8092126631411354e-06,0.7071154843144173,0.7070980752053312,6.22028333295304e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,9.708878173389942e-18,4.4128162121729745e-17,-6.70398016975344e-08],"object_linear_velocity_m_s":[-5.386037677348094e-17,1.271823291956768e-17,6.290268156860134e-15],"object_angular_velocity_rad_s":[-5.253857487434132e-16,-1.5377421518164757e-15,-1.1948881384938995e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313544972702321,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9782278436891048,-1.6199314954233521,1.4793632471116156,-1.4547960918169287,-1.5708216835523288,-0.40743179599877954,0.0],"actuator_force":[-0.0214711215880925,-19.666300863689685,-21.989329097033533,-2.2870861137213296,0.0026458594733185237,0.008315394946180277,-0.29447046827753476],"issued_joint_targets_rad":[-1.97840112075358,-1.6107262927906623,1.4945218015859376,-1.4543462680823596,-1.5708226846762432,-0.4076006297475287],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.560000000000859,"joint_targets_rad":[-1.97840112075358,-1.6107262927906623,1.4945218015859376,-1.4543462680823596,-1.5708226846762432,-0.4076006297475287],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.580000000000866,"qpos":[-1.9767864010085683,-1.6050646456992128,1.4469590493734399,-1.4127807471348006,-1.5708341658345475,-0.4059683963083088,0.002933996982959152,0.0001566430645267041,0.003193641213822137,-0.0034299989008234446,0.0029338602806209847,0.00015599974610004962,0.0031947238483410025,-0.0034394489867595915,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,2.9811842764397923e-17,4.511133060376548e-17,-6.751445161025144e-08],"qvel":[-0.008000242527767855,-0.02738263261834256,0.24106300886885293,-0.20905492811232979,3.653566496731638e-05,-0.008244162356753505,0.00011842686506125278,4.367769669080925e-05,5.898221715638242e-05,-0.00023324561774226975,9.724069743736494e-05,-1.0472554823733506e-05,-0.000204672898667948,-0.00026721084648124126,-5.74139987525709e-17,3.980359680452266e-17,6.319411511256547e-15,-9.774202012564405e-17,-1.1768952859565405e-15,-2.1815639940541807e-08],"joint_position_rad":[-1.9767864010085683,-1.6050646456992128,1.4469590493734399,-1.4127807471348006,-1.5708341658345475,-0.4059683963083088],"joint_velocity_rad_s":[-0.008000242527767855,-0.02738263261834256,0.24106300886885293,-0.20905492811232979,3.653566496731638e-05,-0.008244162356753505],"linkage_position_rad":[0.002933996982959152,0.0001566430645267041,0.003193641213822137,-0.0034299989008234446,0.0029338602806209847,0.00015599974610004962,0.0031947238483410025,-0.0034394489867595915],"tcp_position_m":[0.06353389713462564,0.4870746008582989,0.39367898902415344],"tcp_quaternion_wxyz":[9.037420685856718e-07,0.7071144452012994,0.70709911540318,4.881476726088913e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,2.9811842764397923e-17,4.511133060376548e-17,-6.751445161025144e-08],"object_linear_velocity_m_s":[-5.74139987525709e-17,3.980359680452266e-17,6.319411511256547e-15],"object_angular_velocity_rad_s":[-9.774218100878784e-17,-1.176895271457803e-15,-2.181563994054181e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313544277021385,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9783966706077707,-1.6203709048366985,1.4841711261697061,-1.4591656945973064,-1.570821563399808,-0.4076006319392847,0.0],"actuator_force":[-0.02044218729770364,-19.659465227634428,-22.00104995500851,-2.2869809200199143,0.0026476508730866044,0.008298420187401234,-0.2944712009914999],"issued_joint_targets_rad":[-1.9785699725291919,-1.6111540988342665,1.4993170196722692,-1.4587145649048678,-1.5708225640493427,-0.40776948994016476],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.580000000000866,"joint_targets_rad":[-1.9785699725291919,-1.6111540988342665,1.4993170196722692,-1.4587145649048678,-1.5708225640493427,-0.40776948994016476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.600000000000873,"qpos":[-1.9769555888940902,-1.6056482862684964,1.451930436610705,-1.4171427116133921,-1.5708330851938528,-0.40614025013025523,0.002934038288372784,0.00015664247007123784,0.003193692784619753,-0.0034300359515106503,0.002933901733329052,0.00015600147619397475,0.0031947821397294873,-0.003439485161261389,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,4.4317952340351165e-17,3.1384497298095885e-17,-6.792204979921371e-08],"qvel":[-0.008001186647927502,-0.026589323688975104,0.24017887967523718,-0.20908731755988202,3.174160632426489e-05,-0.008229042026693396,0.0001180661444515543,4.3650923871058185e-05,5.9794578368891005e-05,-0.0002326291778992279,9.692058272309256e-05,-1.0284544981136293e-05,-0.0002031939265364714,-0.0002666343039470726,-4.130490458795218e-17,6.864460204303996e-17,6.365208211022336e-15,1.1909609927252724e-15,-1.3358425002875887e-15,-3.9829849396215154e-08],"joint_position_rad":[-1.9769555888940902,-1.6056482862684964,1.451930436610705,-1.4171427116133921,-1.5708330851938528,-0.40614025013025523],"joint_velocity_rad_s":[-0.008001186647927502,-0.026589323688975104,0.24017887967523718,-0.20908731755988202,3.174160632426489e-05,-0.008229042026693396],"linkage_position_rad":[0.002934038288372784,0.00015664247007123784,0.003193692784619753,-0.0034300359515106503,0.002933901733329052,0.00015600147619397475,0.0031947821397294873,-0.003439485161261389],"tcp_position_m":[0.06362102284012433,0.4870755181054338,0.3919687070412215],"tcp_quaternion_wxyz":[5.182710958707834e-06,0.7071135028339429,0.707100058506997,3.663947960127401e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,4.4317952340351165e-17,3.1384497298095885e-17,-6.792204979921371e-08],"object_linear_velocity_m_s":[-4.130490458795218e-17,6.864460204303996e-17,6.365208211022336e-15],"object_angular_velocity_rad_s":[1.1909608087588607e-15,-1.3358426585422453e-15,-3.982984939621516e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313543663568,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9785655228087866,-1.6207926734623557,1.488960017311063,-1.4635339546711823,-1.5708214392399198,-0.40776949216328473,0.0],"actuator_force":[-0.019393170221974287,-19.653044912128735,-22.01239046937917,-2.286889772906875,0.002648816334158255,0.008283186154613986,-0.29447193472096506],"issued_joint_targets_rad":[-1.9787388510682582,-1.611564104597064,1.5040931964765385,-1.4630816225386272,-1.570822439646935,-0.4079383760038072],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.600000000000873,"joint_targets_rad":[-1.9787388510682582,-1.611564104597064,1.5040931964765385,-1.4630816225386272,-1.570822439646935,-0.4079383760038072],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.620000000000879,"qpos":[-1.9771247408712607,-1.6062153832538772,1.4568834636376848,-1.4215051848343403,-1.5708320958738273,-0.40631181936437005,0.0029340721263729046,0.0001566418726474393,0.0031937368395077424,-0.003430065960856018,0.0029339357282168917,0.00015600322249476552,0.0031948331433278446,-0.003439514209330269,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,4.3259125522058936e-17,2.4829360238631785e-17,-6.82893512367727e-08],"qvel":[-0.008002489547155994,-0.02578956235820025,0.23929128539361139,-0.2091108828185532,2.7427098289021795e-05,-0.008215489788396967,0.00011778036823758727,4.3624738815259115e-05,6.0672983335252056e-05,-0.00023208569733016007,9.667492877334255e-05,-1.009852605684426e-05,-0.0002016593829244223,-0.00026613235743891476,-5.030741362306939e-17,7.392717402219258e-17,6.3763104412685905e-15,7.873007944198067e-16,6.977251619338722e-16,-7.27192467078239e-08],"joint_position_rad":[-1.9771247408712607,-1.6062153832538772,1.4568834636376848,-1.4215051848343403,-1.5708320958738273,-0.40631181936437005],"joint_velocity_rad_s":[-0.008002489547155994,-0.02578956235820025,0.23929128539361139,-0.2091108828185532,2.7427098289021795e-05,-0.008215489788396967],"linkage_position_rad":[0.0029340721263729046,0.0001566418726474393,0.0031937368395077424,-0.003430065960856018,0.0029339357282168917,0.00015600322249476552,0.0031948331433278446,-0.003439514209330269],"tcp_position_m":[0.06370817936577895,0.4870764703284278,0.3902583108083041],"tcp_quaternion_wxyz":[9.06967450737711e-06,0.7071126482766763,0.7071009135276123,2.555977417070086e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,4.3259125522058936e-17,2.4829360238631785e-17,-6.82893512367727e-08],"object_linear_velocity_m_s":[-5.030741362306939e-17,7.392717402219258e-17,6.3763104412685905e-15],"object_angular_velocity_rad_s":[7.873008861030524e-16,6.977250606968872e-16,-7.271924670782391e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313543117660518,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9787344017658288,-1.6211968145954236,1.4937300443766957,-1.4679009829785943,-1.5708213116160081,-0.4079383782554113,0.0],"actuator_force":[-0.01832597027396332,-19.64703773981273,-22.02335267942317,-2.2868107902717156,0.002649419080626103,0.00826953331909408,-0.29447266921454446],"issued_joint_targets_rad":[-1.978907757842089,-1.611956318415455,1.5088504517229377,-1.467447551000076,-1.570822311983062,-0.4081072894969199],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.620000000000879,"joint_targets_rad":[-1.978907757842089,-1.611956318415455,1.5088504517229377,-1.467447551000076,-1.570822311983062,-0.4081072894969199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.640000000000886,"qpos":[-1.9772938638085582,-1.6067658149591149,1.4618180751270395,-1.4258680083709403,-1.5708311888164086,-0.4064831339112514,0.002934099846880207,0.00015664127289867556,0.0031937747206899148,-0.0034300902083807816,0.002933963614001214,0.00015600498154177034,0.0031948781709258394,-0.003439537419857531,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,3.460384778233437e-17,1.9815239732601977e-17,-6.856519266124973e-08],"qvel":[-0.008004119930441611,-0.024984016422616717,0.23840110606379916,-0.2091269791641168,2.3543866034270093e-05,-0.008203362489047827,0.00011755601309087926,4.359912372942814e-05,6.16041360940576e-05,-0.00023160227567815318,9.649022929493569e-05,-9.91444512412119e-06,-0.0002000822521860289,-0.0002656920928365269,-2.5516431955721327e-17,4.176448033293755e-17,6.3818615563917175e-15,-1.3286768208963392e-15,-8.554622586740331e-16,-7.8785348707056e-09],"joint_position_rad":[-1.9772938638085582,-1.6067658149591149,1.4618180751270395,-1.4258680083709403,-1.5708311888164086,-0.4064831339112514],"joint_velocity_rad_s":[-0.008004119930441611,-0.024984016422616717,0.23840110606379916,-0.2091269791641168,2.3543866034270093e-05,-0.008203362489047827],"linkage_position_rad":[0.002934099846880207,0.00015664127289867556,0.0031937747206899148,-0.0034300902083807816,0.002933963614001214,0.00015600498154177034,0.0031948781709258394,-0.003439537419857531],"tcp_position_m":[0.06379536869656369,0.4870774597237789,0.3885477999841951],"tcp_quaternion_wxyz":[1.26025674855186e-05,0.7071118734128288,0.707101688642066,1.546975119343389e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,3.460384778233437e-17,1.9815239732601977e-17,-6.856519266124973e-08],"object_linear_velocity_m_s":[-2.5516431955721327e-17,4.176448033293755e-17,6.3818615563917175e-15],"object_angular_velocity_rad_s":[-1.3286769385184264e-15,-8.554620759268057e-16,-7.878534870705602e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313542627289288,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9789033089388302,-1.62158333915165,1.498481327123566,-1.4722668887614945,-1.5708211810113368,-0.4081072917744145,0.0],"actuator_force":[-0.017242288367469882,-19.64144181602387,-22.033938432466584,-2.286742278865404,0.0026495159323758344,0.008257317323227653,-0.2944734042560001],"issued_joint_targets_rad":[-1.9790766943155305,-1.612330746541433,1.5135889011967527,-1.4718124586107821,-1.5708221815152188,-0.40827623196223584],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.640000000000886,"joint_targets_rad":[-1.9790766943155305,-1.612330746541433,1.5135889011967527,-1.4718124586107821,-1.5708221815152188,-0.40827623196223584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.660000000000893,"qpos":[-1.9774629639772277,-1.60729947217195,1.4667342321460286,-1.4302310493714043,-1.5708303558746317,-0.4066542209533825,0.002934122556122572,0.00015664067145144202,0.0031938075281209575,-0.003430109742432491,0.002933986495827715,0.00015600675031284377,0.0031949182952246452,-0.0034395558496051067,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,1.1093975968913495e-18,7.98154464904208e-18,-6.906880944370958e-08],"qvel":[-0.008006049913423272,-0.02417327893751943,0.23750911951321152,-0.2091368242007919,2.0048514984375878e-05,-0.008192530625247685,0.00011738199567376426,4.357406118657433e-05,6.257716445496739e-05,-0.00023116833201947782,9.635541688359518e-05,-9.732252381489503e-06,-0.00019847311540666234,-0.0002653029180358429,-1.060827773958202e-17,4.866048026984869e-18,6.37492266248781e-15,-1.258417847491175e-15,-5.705306496225908e-16,-1.4384215096063973e-08],"joint_position_rad":[-1.9774629639772277,-1.60729947217195,1.4667342321460286,-1.4302310493714043,-1.5708303558746317,-0.4066542209533825],"joint_velocity_rad_s":[-0.008006049913423272,-0.02417327893751943,0.23750911951321152,-0.2091368242007919,2.0048514984375878e-05,-0.008192530625247685],"linkage_position_rad":[0.002934122556122572,0.00015664067145144202,0.0031938075281209575,-0.003430109742432491,0.002933986495827715,0.00015600675031284377,0.0031949182952246452,-0.0034395558496051067],"tcp_position_m":[0.06388259280034389,0.48707848856701286,0.3868371743272824],"tcp_quaternion_wxyz":[1.5815668923229562e-05,0.7071111708701869,0.7071023912709515,6.27371764061193e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,1.1093975968913495e-18,7.98154464904208e-18,-6.906880944370958e-08],"object_linear_velocity_m_s":[-1.060827773958202e-17,4.866048026984869e-18,6.37492266248781e-15],"object_angular_velocity_rad_s":[-1.2584179265325254e-15,-5.705304757558249e-16,-1.4384215096063976e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313542182631583,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.979072245782736,-1.6219522557122963,1.5032139813494132,-1.476631779642947,-1.5708210478557239,-0.40827623426328574,0.0],"actuator_force":[-0.016143645647844096,-19.636255505684858,-22.044149398515856,-2.2866827156919953,0.0026491579554885902,0.008246407573153647,-0.2944741396603011],"issued_joint_targets_rad":[-1.979245661955706,-1.6126873931516246,1.5183086568494693,-1.4761764520770648,-1.5708220486505224,-0.40844520493653813],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.660000000000893,"joint_targets_rad":[-1.979245661955706,-1.6126873931516246,1.5183086568494693,-1.4761764520770648,-1.5708220486505224,-0.40844520493653813],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.680000000000899,"qpos":[-1.977632047116364,-1.6078162567479488,1.4716319102240842,-1.4345941979531822,-1.5708295897205544,-0.40682510521505577,0.002934141160620514,0.0001566400689065384,0.0031938361632495365,-0.003430125421928586,0.0029340052792443893,0.00015600852616927743,0.003194954393264695,-0.0034395703650428114,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-1.1270772085063531e-17,1.0725023626467508e-17,-6.95162617709572e-08],"qvel":[-0.008008254696607847,-0.02335787552911858,0.23661601159600246,-0.2091415114187989,1.6902035295818197e-05,-0.008182877079571622,0.000117249232401238,4.354953419868484e-05,6.358318277374108e-05,-0.00023077518722104976,9.626142292170287e-05,-9.55190075885074e-06,-0.00019684058607155722,-0.00026495614432656334,-1.4033593555724295e-17,-1.5223023424937832e-17,6.1917358634246604e-15,-2.428694183602719e-16,-7.495679952919255e-17,-2.6261944298690687e-08],"joint_position_rad":[-1.977632047116364,-1.6078162567479488,1.4716319102240842,-1.4345941979531822,-1.5708295897205544,-0.40682510521505577],"joint_velocity_rad_s":[-0.008008254696607847,-0.02335787552911858,0.23661601159600246,-0.2091415114187989,1.6902035295818197e-05,-0.008182877079571622],"linkage_position_rad":[0.002934141160620514,0.0001566400689065384,0.0031938361632495365,-0.003430125421928586,0.0029340052792443893,0.00015600852616927743,0.003194954393264695,-0.0034395703650428114],"tcp_position_m":[0.06396985364105039,0.48707955922498647,0.3851264336851765],"tcp_quaternion_wxyz":[1.8739954512174827e-05,0.7071105339531447,0.7071030281485429,-2.1147973105419497e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-1.1270772085063531e-17,1.0725023626467508e-17,-6.95162617709572e-08],"object_linear_velocity_m_s":[-1.4033593555724295e-17,-1.5223023424937832e-17,6.1917358634246604e-15],"object_angular_velocity_rad_s":[-2.4286942934502264e-16,-7.495676635442846e-17,-2.62619442986907e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313541775654455,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9792412137560904,-1.6223035705601547,1.5079281190015272,-1.4809957616993688,-1.5708209125313959,-0.4084452072590409,0.0],"actuator_force":[-0.015031400809675688,-19.631477412764525,-22.05398708351504,-2.2866307312134495,0.0026483910496608587,0.008236685964590151,-0.2944748752698599],"issued_joint_targets_rad":[-1.9794146622406408,-1.6130262603502605,1.5230098268891554,-1.480539636562656,-1.5708219137511685,-0.40861420996019454],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.680000000000899,"joint_targets_rad":[-1.9794146622406408,-1.6130262603502605,1.5230098268891554,-1.480539636562656,-1.5708219137511685,-0.40861420996019454],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.700000000000906,"qpos":[-1.9778011184918147,-1.6083160803324885,1.4765110976136602,-1.4389573648539216,-1.5708288837625186,-0.40699580919829687,0.002934156403234626,0.00015663946583352987,0.003193861364862111,-0.003430137950564158,0.0029340207062379616,0.0001560103068077509,0.0031949871819862146,-0.003439581676639134,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-1.5790936208208574e-18,9.856485740199339e-18,-6.994562643840484e-08],"qvel":[-0.008010712274366835,-0.022538270966904132,0.23572238538705922,-0.20914202242112,1.4069357024753547e-05,-0.00817429597710585,0.00011715027863248068,4.35255262060803e-05,6.46149333871541e-05,-0.00023041571961968465,9.62008168924753e-05,-9.373345529901027e-06,-0.0001951916666844718,-0.00026464464402669376,-1.2252176931318935e-17,3.4595326472859234e-18,6.1376124909741836e-15,1.295622554243044e-15,-2.418594369940902e-16,-4.7947678322503e-08],"joint_position_rad":[-1.9778011184918147,-1.6083160803324885,1.4765110976136602,-1.4389573648539216,-1.5708288837625186,-0.40699580919829687],"joint_velocity_rad_s":[-0.008010712274366835,-0.022538270966904132,0.23572238538705922,-0.20914202242112,1.4069357024753547e-05,-0.00817429597710585],"linkage_position_rad":[0.002934156403234626,0.00015663946583352987,0.003193861364862111,-0.003430137950564158,0.0029340207062379616,0.0001560103068077509,0.0031949871819862146,-0.003439581676639134],"tcp_position_m":[0.06405715319135814,0.4870806741683379,0.38341557798540343],"tcp_quaternion_wxyz":[2.1403415044544924e-05,0.7071099565809585,0.7071036053863949,-9.773931851390508e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-1.5790936208208574e-18,9.856485740199339e-18,-6.994562643840484e-08],"object_linear_velocity_m_s":[-1.2252176931318935e-17,3.4595326472859234e-18,6.1376124909741836e-15],"object_angular_velocity_rad_s":[1.2956225194638212e-15,-2.41859618391778e-16,-4.794767832250302e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313541399789478,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.979410214329521,-1.6226372877069168,1.512623848270393,-1.4853589395265239,-1.5708207753781658,-0.40861421230225803,0.0],"actuator_force":[-0.01390676566552429,-19.627106362094764,-22.063452841357957,-2.286585094189263,0.002647256474006099,0.008228045729993028,-0.2944756109512542],"issued_joint_targets_rad":[-1.9795836966678533,-1.6133473481659109,1.5276925158568493,-1.4849021157551099,-1.57082177713926,-0.40878324858653914],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.700000000000906,"joint_targets_rad":[-1.9795836966678533,-1.6133473481659109,1.5276925158568493,-1.4849021157551099,-1.57082177713926,-0.40878324858653914],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.720000000000913,"qpos":[-1.9779701829495553,-1.6087988632068342,1.4813717937245732,-1.443320479313879,-1.5708282320707938,-0.4071663533970748,0.0029341688927072584,0.0001566388627668563,0.003193883738457295,-0.0034301479048446867,0.002934033384765755,0.0001560120902191248,0.0031950172473487488,-0.0034395903669702265,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-1.8172241932284077e-18,8.9318264457288e-18,-7.0266108021281e-08],"qvel":[-0.00801340317539931,-0.021714875067398328,0.2348287694338907,-0.20913923795021686,1.1518950759089204e-05,-0.008166691650882808,0.00011707903297164829,4.350202112973958e-05,6.566649279242052e-05,-0.00023008408455366296,9.616751078330927e-05,-9.196544055215689e-06,-0.00019353204096784468,-0.0002643625689742884,-2.5017222608751063e-17,-2.372963613832821e-17,6.16120473024747e-15,-2.643339421146582e-15,8.537247338263746e-16,-8.754035232010224e-08],"joint_position_rad":[-1.9779701829495553,-1.6087988632068342,1.4813717937245732,-1.443320479313879,-1.5708282320707938,-0.4071663533970748],"joint_velocity_rad_s":[-0.00801340317539931,-0.021714875067398328,0.2348287694338907,-0.20913923795021686,1.1518950759089204e-05,-0.008166691650882808],"linkage_position_rad":[0.0029341688927072584,0.0001566388627668563,0.003193883738457295,-0.0034301479048446867,0.002934033384765755,0.0001560120902191248,0.0031950172473487488,-0.0034395903669702265],"tcp_position_m":[0.06414449344499466,0.48708183598420696,0.38170460722706495],"tcp_quaternion_wxyz":[2.383134415782421e-05,0.7071094332315647,0.7071041285310279,-1.677429531672612e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-1.8172241932284077e-18,8.9318264457288e-18,-7.0266108021281e-08],"object_linear_velocity_m_s":[-2.5017222608751063e-17,-2.372963613832821e-17,6.16120473024747e-15],"object_angular_velocity_rad_s":[-2.643339302734519e-15,8.537251049825524e-16,-8.754035232010228e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313541049666356,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9795792489942066,-1.6229534089119857,1.517301273668975,-1.4897214162999086,-1.570820636698007,-0.40878325094646084,0.0],"actuator_force":[-0.0127708191430429,-19.623141383343864,-22.072547884752566,-2.286544697993236,0.0026457913173771885,0.008220390395251798,-0.2944763465924254],"issued_joint_targets_rad":[-1.9797527667629822,-1.6136506545417233,1.5323568246894783,-1.4892639919266104,-1.5708216391010954,-0.408952322391202],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.720000000000913,"joint_targets_rad":[-1.9797527667629822,-1.6136506545417233,1.5323568246894783,-1.4892639919266104,-1.5708216391010954,-0.408952322391202],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.7400000000009195,"qpos":[-1.9781392449641446,-1.6092645332456241,1.4862140077139752,-1.4476834871670643,-1.5708276293107557,-0.4073367564918743,0.0029341791278727296,0.00015663826020380868,0.0031939037803162965,-0.003430155757060976,0.002934043812956964,0.0001560138746525768,0.0031950450681708735,-0.003439596913760831,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-7.971227717258342e-18,6.121862297941769e-18,-7.059816942973068e-08],"qvel":[-0.008016310231585293,-0.02088804799307317,0.23393562515876976,-0.209133947832687,9.222468953629117e-06,-0.00815997770624205,0.00011703049489195699,4.347900335525507e-05,6.673303094798953e-05,-0.00022977548349003633,9.615651681937392e-05,-9.021455497122471e-06,-0.00019186631315981894,-0.00026410511976050153,-9.916727540192567e-18,-9.010465757088576e-18,6.1362247121934026e-15,2.4641403294598987e-16,-4.978016029498975e-16,-9.484280291280405e-09],"joint_position_rad":[-1.9781392449641446,-1.6092645332456241,1.4862140077139752,-1.4476834871670643,-1.5708276293107557,-0.4073367564918743],"joint_velocity_rad_s":[-0.008016310231585293,-0.02088804799307317,0.23393562515876976,-0.209133947832687,9.222468953629117e-06,-0.00815997770624205],"linkage_position_rad":[0.0029341791278727296,0.00015663826020380868,0.0031939037803162965,-0.003430155757060976,0.002934043812956964,0.0001560138746525768,0.0031950450681708735,-0.003439596913760831],"tcp_position_m":[0.06423187642881494,0.4870830473893661,0.37999352147337284],"tcp_quaternion_wxyz":[2.604659835307908e-05,0.707108958890477,0.7071046026162618,-2.3179694432669994e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-7.971227717258342e-18,6.121862297941769e-18,-7.059816942973068e-08],"object_linear_velocity_m_s":[-9.916727540192567e-18,-9.010465757088576e-18,6.1362247121934026e-15],"object_angular_velocity_rad_s":[2.464139625421008e-16,-4.978016378938548e-16,-9.48428029128041e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540720895022,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9797483192703937,-1.623251933692708,1.521960496098207,-1.4940832938301176,-1.5708204967591164,-0.4089523247674506,0.0],"actuator_force":[-0.011624519864199101,-19.61958169693844,-22.08127329504441,-2.2865085482579843,0.002644028924351005,0.008213632836032048,-0.2944770821000413],"issued_joint_targets_rad":[-1.9799218740885536,-1.6139361753188313,1.5370028507696596,-1.493625365989706,-1.570821499890971,-0.40912143298148784],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.7400000000009195,"joint_targets_rad":[-1.9799218740885536,-1.6139361753188313,1.5370028507696596,-1.493625365989706,-1.570821499890971,-0.40912143298148784],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.760000000000926,"qpos":[-1.9783083086828006,-1.6097130249742604,1.4910377572158549,-1.45204634912063,-1.5708270706828258,-0.407507035526516,0.0029341875174979312,0.00015663765860354128,0.003193921897226198,-0.003430161894114887,0.002934052398945263,0.00015601565858418094,0.0031950710356480013,-0.0034396017087656165,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-2.4261480381310926e-17,-4.987840053993695e-18,-7.107697352649633e-08],"qvel":[-0.008019418372748211,-0.020058105003677995,0.2330433534937834,-0.20912685994797478,7.154423838612221e-06,-0.008154076175104729,0.00011700056604463731,4.345645763830227e-05,6.781061379486127e-05,-0.00022948597570691414,9.616374886447669e-05,-8.848040606008838e-06,-0.0001901982037822864,-0.0002638683572583772,4.979799370792032e-18,-2.9449070588874957e-17,6.0487946490041706e-15,-9.42783988978797e-18,-4.782183782819579e-16,-1.7315900732811595e-08],"joint_position_rad":[-1.9783083086828006,-1.6097130249742604,1.4910377572158549,-1.45204634912063,-1.5708270706828258,-0.407507035526516],"joint_velocity_rad_s":[-0.008019418372748211,-0.020058105003677995,0.2330433534937834,-0.20912685994797478,7.154423838612221e-06,-0.008154076175104729],"linkage_position_rad":[0.0029341875174979312,0.00015663765860354128,0.003193921897226198,-0.003430161894114887,0.002934052398945263,0.00015601565858418094,0.0031950710356480013,-0.0034396017087656165],"tcp_position_m":[0.06431930421475973,0.48708431124388984,0.3782823208449825],"tcp_quaternion_wxyz":[2.806983195111336e-05,0.7071085290043012,0.7071050322106914,-2.904778952280302e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-2.4261480381310926e-17,-4.987840053993695e-18,-7.107697352649633e-08],"object_linear_velocity_m_s":[4.979799370792032e-18,-2.9449070588874957e-17,6.0487946490041706e-15],"object_angular_velocity_rad_s":[-9.427907697680082e-18,-4.782183777819675e-16,-1.7315900732811605e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540409886994,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9799174267160624,-1.6235328593259046,1.5266016128990723,-1.4984446726136638,-1.5708203557995108,-0.40912143537268636,0.0],"actuator_force":[-0.010468717424373608,-19.61642670181709,-22.089630031078286,-2.286475751719422,0.0026419992735782216,0.008207694425294676,-0.29447781739670525],"issued_joint_targets_rad":[-1.9800910202529671,-1.6142039042124772,1.5416306879625805,-1.4979863375485214,-1.5708213597345617,-0.40929058200590357],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.760000000000926,"joint_targets_rad":[-1.9800910202529671,-1.6142039042124772,1.5416306879625805,-1.4979863375485214,-1.5708213597345617,-0.40929058200590357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.780000000000933,"qpos":[-1.9784773779655884,-1.6101442787157947,1.4958430671955247,-1.4564090392040332,-1.5708265518684839,-0.407677206068941,0.002934194396542159,0.00015663705838730812,0.003193938422641502,-0.003430166632945901,0.002934059477121405,0.00015601744068984865,0.003195095469328519,-0.003439605073257393,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-3.4411338858459093e-17,3.9871704030769048e-19,-7.149615738923682e-08],"qvel":[-0.008022714444910388,-0.019225320711126054,0.23215230082285432,-0.20911860831718632,5.2918980772595874e-06,-0.008148916751993876,0.00011698588747607511,4.343436914370832e-05,6.88960424072368e-05,-0.00022921232210515352,9.618585972989183e-05,-8.676261437276656e-06,-0.00018853070978296663,-0.0002636490472688571,-3.847586733391351e-18,-4.415467534620143e-17,6.0099368431422915e-15,-9.140661651867634e-17,3.7608554044029332e-16,-3.1614461928573566e-08],"joint_position_rad":[-1.9784773779655884,-1.6101442787157947,1.4958430671955247,-1.4564090392040332,-1.5708265518684839,-0.407677206068941],"joint_velocity_rad_s":[-0.008022714444910388,-0.019225320711126054,0.23215230082285432,-0.20911860831718632,5.2918980772595874e-06,-0.008148916751993876],"linkage_position_rad":[0.002934194396542159,0.00015663705838730812,0.003193938422641502,-0.003430166632945901,0.002934059477121405,0.00015601744068984865,0.003195095469328519,-0.003439605073257393],"tcp_position_m":[0.06440677893182489,0.487085630565515,0.3765710055140384],"tcp_quaternion_wxyz":[2.9919709409249195e-05,0.7071081394384643,0.7071054214607685,-3.443068743735884e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-3.4411338858459093e-17,3.9871704030769048e-19,-7.149615738923682e-08],"object_linear_velocity_m_s":[-3.847586733391351e-18,-4.415467534620143e-17,6.0099368431422915e-15],"object_angular_velocity_rad_s":[-9.140656276654409e-17,3.760855513349415e-16,-3.1614461928573586e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540113709383,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9800865729358248,-1.6237961808404406,1.5312247178915033,-1.50280565187975,-1.5708202140302268,-0.40929058441081445,0.0],"actuator_force":[-0.009304162508669833,-19.613675964841605,-22.097618937184507,-2.286445506139671,0.002639729320890183,0.008202504262641241,-0.294478552419208],"issued_joint_targets_rad":[-1.9802602069198183,-1.6144538327802862,1.5462404266399152,-1.5023470049458392,-1.5708212188319264,-0.4094597711639534],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.780000000000933,"joint_targets_rad":[-1.9802602069198183,-1.6144538327802862,1.5462404266399152,-1.5023470049458392,-1.5708212188319264,-0.4094597711639534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8000000000009395,"qpos":[-1.9786464564221717,-1.6105582398178468,1.500629968915914,-1.4607715433713044,-1.5708260689817335,-0.40784728235752093,0.0029342000394822322,0.00015663645993906333,0.0031939536299285917,-0.003430170233178237,0.0029340653214518305,0.00015601921982150773,0.003195118630189361,-0.003439607270715455,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-3.382545519432273e-17,1.8094856922529596e-18,-7.188789663432923e-08],"qvel":[-0.00802618705012778,-0.01838993288355845,0.2312627642967071,-0.20910976039813553,3.614284828339358e-06,-0.008144436104510265,0.00011698370614044222,4.341272340703749e-05,6.998672006309562e-05,-0.00022895185895266707,9.622010776314785e-05,-8.506081280221202e-06,-0.00018686623617973462,-0.00026344453424974676,-1.6453535359109675e-19,-5.339638824467454e-17,6.000222391676819e-15,-3.4012314637323227e-16,-1.4569456884165856e-16,-5.772002383562389e-08],"joint_position_rad":[-1.9786464564221717,-1.6105582398178468,1.500629968915914,-1.4607715433713044,-1.5708260689817335,-0.40784728235752093],"joint_velocity_rad_s":[-0.00802618705012778,-0.01838993288355845,0.2312627642967071,-0.20910976039813553,3.614284828339358e-06,-0.008144436104510265],"linkage_position_rad":[0.0029342000394822322,0.00015663645993906333,0.0031939536299285917,-0.003430170233178237,0.0029340653214518305,0.00015601921982150773,0.003195118630189361,-0.003439607270715455],"tcp_position_m":[0.0644943027781738,0.48708700854485165,0.3748595756988849],"tcp_quaternion_wxyz":[3.161309717682648e-05,0.7071077864387734,0.7071057741298974,-3.937547730209288e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-3.382545519432273e-17,1.8094856922529596e-18,-7.188789663432923e-08],"object_linear_velocity_m_s":[-1.6453535359109675e-19,-5.339638824467454e-17,6.000222391676819e-15],"object_angular_velocity_rad_s":[-3.401231675294686e-16,-1.4569452384499412e-16,-5.772002383562393e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539829965277,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9802557595901662,-1.624041891000446,1.5358299014000836,-1.5071663296333413,-1.57082007163816,-0.40945977358146474,0.0],"actuator_force":[-0.00813151593774819,-19.611329211774773,-22.105240750343455,-2.2864170912048394,0.0026372433038659437,0.008197998479147373,-0.2944792871162211],"issued_joint_targets_rad":[-1.980429435817655,-1.614685950381986,1.5508321536905991,-1.506707465306493,-1.5708210773601863,-0.40962900221632464],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.8000000000009395,"joint_targets_rad":[-1.980429435817655,-1.614685950381986,1.5508321536905991,-1.506707465306493,-1.5708210773601863,-0.40962900221632464],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.820000000000946,"qpos":[-1.9788155474455427,-1.6109548579509587,1.5053984990037645,-1.4651338582413966,-1.5708256185254812,-0.40801727743431865,0.0029342046712326113,0.00015663586360659733,0.003193967743216674,-0.0034301729074707244,0.002934070156392915,0.00015602099498648474,0.0031951407313388696,-0.0034396085172293685,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-3.120846919675928e-17,6.99192974687027e-18,-7.221179655509775e-08],"qvel":[-0.008029826406077283,-0.017552145839119203,0.2303749965796742,-0.2091008236647323,2.1030542293792888e-06,-0.00814057725169954,0.00011699176548979174,4.339150619193924e-05,7.108054402983918e-05,-0.0002287023937320108,9.626424752844071e-05,-8.33746443667175e-06,-0.00018520670314190209,-0.0002632526365002629,-7.451784654912715e-17,-8.706756176941333e-17,6.016875737046198e-15,-3.742173812610737e-15,5.4945447316863325e-15,-1.0538218740246381e-07],"joint_position_rad":[-1.9788155474455427,-1.6109548579509587,1.5053984990037645,-1.4651338582413966,-1.5708256185254812,-0.40801727743431865],"joint_velocity_rad_s":[-0.008029826406077283,-0.017552145839119203,0.2303749965796742,-0.2091008236647323,2.1030542293792888e-06,-0.00814057725169954],"linkage_position_rad":[0.0029342046712326113,0.00015663586360659733,0.003193967743216674,-0.0034301729074707244,0.002934070156392915,0.00015602099498648474,0.0031951407313388696,-0.0034396085172293685],"tcp_position_m":[0.06458187803352218,0.48708844856161376,0.37314803165936705],"tcp_quaternion_wxyz":[3.316523706814816e-05,0.7071074665964647,0.7071060936339153,-4.392471461623495e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-3.120846919675928e-17,6.99192974687027e-18,-7.221179655509775e-08],"object_linear_velocity_m_s":[-7.451784654912715e-17,-8.706756176941333e-17,6.016875737046198e-15],"object_angular_velocity_rad_s":[-3.742173020542458e-15,5.494545265566834e-15,-1.0538218740246388e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539556695827,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9804249884051326,-1.6242699802786413,1.5404172502663993,-1.5115268026949364,-1.5708199287885953,-0.4096290046454381,0.0],"actuator_force":[-0.006951356748686521,-19.609386319717487,-22.112496106599792,-2.2863898602965946,0.002634563020023961,0.008194119610237749,-0.29448002144636753],"issued_joint_targets_rad":[-1.9805987087503174,-1.6149002441297189,1.555405952518042,-1.5110678145774115,-1.5708209354759066,-0.4097982769955858],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.820000000000946,"joint_targets_rad":[-1.9805987087503174,-1.6149002441297189,1.555405952518042,-1.5110678145774115,-1.5708209354759066,-0.4097982769955858],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.840000000000953,"qpos":[-1.9789846542431093,-1.611334086470534,1.5101486986048935,-1.469495989963062,-1.5708251973523057,-0.4081872032665987,0.002934208476094519,0.00015663526970336584,0.0031939809462895774,-0.0034301748300181586,0.0029340741658347626,0.00015602276532922032,0.0031951619467719132,-0.0034396089900288786,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-3.227460827103575e-17,2.3283164916856112e-17,-7.261153629393741e-08],"qvel":[-0.00803362422401381,-0.016712133465355425,0.22948921008067052,-0.20909225154087166,7.415435276687178e-07,-0.0081372890043516,0.00011700821586269128,4.337070361246271e-05,7.217581751285273e-05,-0.00022846211827683667,9.631644026275341e-05,-8.170376016195197e-06,-0.00018355363344829583,-0.0002630715610045389,-2.7021327721331626e-17,-4.031102268807532e-17,6.577538364481902e-15,1.2456724540943501e-15,-3.2156010409369247e-16,-1.14172970126797e-08],"joint_position_rad":[-1.9789846542431093,-1.611334086470534,1.5101486986048935,-1.469495989963062,-1.5708251973523057,-0.4081872032665987],"joint_velocity_rad_s":[-0.00803362422401381,-0.016712133465355425,0.22948921008067052,-0.20909225154087166,7.415435276687178e-07,-0.0081372890043516],"linkage_position_rad":[0.002934208476094519,0.00015663526970336584,0.0031939809462895774,-0.0034301748300181586,0.0029340741658347626,0.00015602276532922032,0.0031951619467719132,-0.0034396089900288786],"tcp_position_m":[0.06466950707194302,0.48708995420206547,0.3714363736926846],"tcp_quaternion_wxyz":[3.458990292866579e-05,0.7071071768164269,0.7071063830733023,-4.81168586766756e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-3.227460827103575e-17,2.3283164916856112e-17,-7.261153629393741e-08],"object_linear_velocity_m_s":[-2.7021327721331626e-17,-4.031102268807532e-17,6.577538364481902e-15],"object_angular_velocity_rad_s":[1.24567240686473e-15,-3.215602857310481e-16,-1.141729701267971e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539292300252,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9805942611826046,-1.6244804368190675,1.5449868478476456,-1.51588716673734,-1.5708197856274577,-0.4097982794354054,0.0],"actuator_force":[-0.005764189384990459,-19.607847310924626,-22.11938554676408,-2.2863632330518158,0.002631708071248795,0.008190816031770964,-0.2944807553770913],"issued_joint_targets_rad":[-1.9807680276079775,-1.6150966988278967,1.5599619030231175,-1.5154281475646283,-1.5708207933172202,-0.40996759741756705],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.840000000000953,"joint_targets_rad":[-1.9807680276079775,-1.6150966988278967,1.5599619030231175,-1.5154281475646283,-1.5708207933172202,-0.40996759741756705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8600000000009596,"qpos":[-1.9791537798654921,-1.6116958818351832,1.5148806126186853,-1.4738579531920266,-1.5708248026291938,-0.4083570708577776,0.0029342116050898133,0.00015663467850992138,0.003193993389870683,-0.0034301761435016715,0.0029340775004303103,0.00015602453011542795,0.003195182418534706,-0.0034396088344758203,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-4.86373083482219e-17,3.1132006223346814e-17,-7.30650698805511e-08],"qvel":[-0.00803757360374763,-0.015870041895686866,0.22860558071441556,-0.20908444875212986,-4.852314724937284e-07,-0.008134525462082431,0.0001170315408969949,4.335030188948128e-05,7.327117624090307e-05,-0.00022822954022525246,9.637518037294658e-05,-8.004781872617406e-06,-0.0001819082248024693,-0.0002628998338103329,-3.871955296393688e-17,-6.296247641340047e-17,6.695499560848325e-15,5.02934269505975e-16,-3.9206828442856404e-16,-2.0845101118568944e-08],"joint_position_rad":[-1.9791537798654921,-1.6116958818351832,1.5148806126186853,-1.4738579531920266,-1.5708248026291938,-0.4083570708577776],"joint_velocity_rad_s":[-0.00803757360374763,-0.015870041895686866,0.22860558071441556,-0.20908444875212986,-4.852314724937284e-07,-0.008134525462082431],"linkage_position_rad":[0.0029342116050898133,0.00015663467850992138,0.003193993389870683,-0.0034301761435016715,0.0029340775004303103,0.00015602453011542795,0.003195182418534706,-0.0034396088344758203],"tcp_position_m":[0.0647571923752365,0.4870915292778972,0.3697246021297409],"tcp_quaternion_wxyz":[3.589954221093204e-05,0.7071069142883115,0.7071066452624175,-5.198666784331667e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-4.86373083482219e-17,3.1132006223346814e-17,-7.30650698805511e-08],"object_linear_velocity_m_s":[-3.871955296393688e-17,-6.296247641340047e-17,6.695499560848325e-15],"object_angular_velocity_rad_s":[5.02934210915077e-16,-3.9206835995011444e-16,-2.0845101118568964e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539035470313,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9807635798112828,-1.624673246388297,1.5495387740008402,-1.5202475163197184,-1.5708196422833143,-0.40996759986728915,0.0],"actuator_force":[-0.00457045008215573,-19.606712347952907,-22.12590952145638,-2.2863366886329004,0.002628696086958371,0.00818804145248464,-0.29448148888235587],"issued_joint_targets_rad":[-1.9809373943790647,-1.6152752969013366,1.5645000815720296,-1.51978855796754,-1.570820651005721,-0.41013696549356665],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.8600000000009596,"joint_targets_rad":[-1.9809373943790647,-1.6152752969013366,1.5645000815720296,-1.51978855796754,-1.570820651005721,-0.41013696549356665],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.880000000000966,"qpos":[-1.9793229272333634,-1.6120402030748673,1.5195942890028207,-1.4782197701694424,-1.5708244318058273,-0.40852689034890616,0.002934214181971154,0.00015663409027594363,0.0031940051975922813,-0.0034301769647898236,0.0029340802836011503,0.00015602628871810075,0.003195202262585109,-0.003439608169792471,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-6.151882265052974e-17,3.018787867751149e-17,-7.350891596325621e-08],"qvel":[-0.00804166894474697,-0.015025991870407398,0.22772425123353668,-0.20907777615242873,-1.590745907453263e-06,-0.00813224556241691,0.00011706049729931815,4.333028741833318e-05,7.436552974264142e-05,-0.0002280034242753151,9.643923527300674e-05,-7.840648457295594e-06,-0.0001802714079000844,-0.00026273624236408433,-4.0345936567428886e-17,-8.964304170949223e-17,6.713540684998486e-15,-7.127141488009529e-16,-4.542277622630463e-16,-3.805789059887168e-08],"joint_position_rad":[-1.9793229272333634,-1.6120402030748673,1.5195942890028207,-1.4782197701694424,-1.5708244318058273,-0.40852689034890616],"joint_velocity_rad_s":[-0.00804166894474697,-0.015025991870407398,0.22772425123353668,-0.20907777615242873,-1.590745907453263e-06,-0.00813224556241691],"linkage_position_rad":[0.002934214181971154,0.00015663409027594363,0.0031940051975922813,-0.0034301769647898236,0.0029340802836011503,0.00015602628871810075,0.003195202262585109,-0.003439608169792471],"tcp_position_m":[0.06484493654703367,0.48709317784677214,0.36801271733195606],"tcp_quaternion_wxyz":[3.7105403913984065e-05,0.7071066764602649,0.707106882756048,-5.5565556711595627e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-6.151882265052974e-17,3.018787867751149e-17,-7.350891596325621e-08],"object_linear_velocity_m_s":[-4.0345936567428886e-17,-8.964304170949223e-17,6.713540684998486e-15],"object_angular_velocity_rad_s":[-7.12714217878301e-16,-4.542276621639059e-16,-3.8057890598871716e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538785136685,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9809329462785614,-1.6248483923139956,1.5540731050517682,-1.5246079449191896,-1.570819498869161,-0.410136967952471,0.0],"actuator_force":[-0.0033705124969856115,-19.605981730093845,-22.132068395519582,-2.28630975963074,0.0026255429239654404,0.008185754459248074,-0.29448222194147683],"issued_joint_targets_rad":[-1.981106811163253,-1.6154360183101601,1.5690205609478616,-1.5241491384106898,-1.57082050864815,-0.4103063833435992],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.880000000000966,"joint_targets_rad":[-1.981106811163253,-1.6154360183101601,1.5690205609478616,-1.5241491384106898,-1.57082050864815,-0.4103063833435992],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.900000000000973,"qpos":[-1.9794920991626388,-1.612367011302751,1.5242897781399982,-1.4825814698916666,-1.5708240825860689,-0.4086966711116891,0.0029342163081474385,0.000156633505222346,0.003194016470886195,-0.0034301773896166237,0.0029340826164590363,0.00015602804060534667,0.0031952215735853978,-0.003439607093769285,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-7.138077187105829e-17,1.781385367796471e-17,-7.385987681646886e-08],"qvel":[-0.008045905872530193,-0.014180080805748561,0.2268453341669455,-0.2090725550772393,-2.587118152449728e-06,-0.008130412677869524,0.00011709406545232143,4.331064667456973e-05,7.545801297803491e-05,-0.00022778274441397975,9.65075960742925e-05,-7.677942628530437e-06,-0.00017864389447051882,-0.0002625797884504106,-1.591476122370303e-17,-1.5309329876519165e-16,6.741296260614115e-15,-5.1136461998622314e-15,-1.9849281895921775e-15,-6.948409741919061e-08],"joint_position_rad":[-1.9794920991626388,-1.612367011302751,1.5242897781399982,-1.4825814698916666,-1.5708240825860689,-0.4086966711116891],"joint_velocity_rad_s":[-0.008045905872530193,-0.014180080805748561,0.2268453341669455,-0.2090725550772393,-2.587118152449728e-06,-0.008130412677869524],"linkage_position_rad":[0.0029342163081474385,0.000156633505222346,0.003194016470886195,-0.0034301773896166237,0.0029340826164590363,0.00015602804060534667,0.0031952215735853978,-0.003439607093769285],"tcp_position_m":[0.06493274232781915,0.4870949042348243,0.3663007196885112],"tcp_quaternion_wxyz":[3.821765420202831e-05,0.7071064610150506,0.7071070978735119,-5.8881918868278084e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-7.138077187105829e-17,1.781385367796471e-17,-7.385987681646886e-08],"object_linear_velocity_m_s":[-1.591476122370303e-17,-1.5309329876519165e-16,6.741296260614115e-15],"object_angular_velocity_rad_s":[-5.113646495550844e-15,-1.984927444125258e-15,-6.948409741919069e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538540425201,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9811023626834723,-1.6250058554094313,1.5585899137474775,-1.528968544960195,-1.5708193554840144,-0.4103063858110408,0.0],"actuator_force":[-0.002164692654787359,-19.60565589106136,-22.137862451819274,-2.2862820265403343,0.0026222628424648065,0.008183918111114963,-0.2944829545379568],"issued_joint_targets_rad":[-1.9812762801857307,-1.615578840449612,1.5735234102842253,-1.528509980473267,-1.5708203663378966,-0.41047585321088387],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.900000000000973,"joint_targets_rad":[-1.9812762801857307,-1.615578840449612,1.5735234102842253,-1.528509980473267,-1.5708203663378966,-0.41047585321088387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.92000000000098,"qpos":[-1.979661298388319,-1.612676269265067,1.5289671322590548,-1.4869430873623937,-1.5708237529023172,-0.408866421833972,0.002934218066720071,0.00015663292354278736,0.00319402729298995,-0.00343017749640104,0.002934084581838598,0.00015602978532932665,0.003195240428820158,-0.0034396056866120893,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-6.701980239463024e-17,5.9748566828332776e-18,-7.4123446549082e-08],"qvel":[-0.008050281179866002,-0.013332384590717923,0.22596891439467912,-0.2090690712696997,-3.4852467216765643e-06,-0.008128994257339666,0.0001171314088674192,4.329136610510111e-05,7.654794636735317e-05,-0.00022756664613640852,9.65794371160017e-05,-7.516631538295107e-06,-0.00017702621579708243,-0.0002624296499795995,-1.0251688196477136e-17,-8.105356967792419e-17,6.795419633064593e-15,2.690318953649454e-15,-5.596005926824913e-16,-7.528032938461298e-09],"joint_position_rad":[-1.979661298388319,-1.612676269265067,1.5289671322590548,-1.4869430873623937,-1.5708237529023172,-0.408866421833972],"joint_velocity_rad_s":[-0.008050281179866002,-0.013332384590717923,0.22596891439467912,-0.2090690712696997,-3.4852467216765643e-06,-0.008128994257339666],"linkage_position_rad":[0.002934218066720071,0.00015663292354278736,0.00319402729298995,-0.00343017749640104,0.002934084581838598,0.00015602978532932665,0.003195240428820158,-0.0034396056866120893],"tcp_position_m":[0.06502061261106899,0.4870967130614227,0.3645886096139839],"tcp_quaternion_wxyz":[3.924548089306234e-05,0.7071062658483335,0.7071072927205605,-6.196141856623057e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-6.701980239463024e-17,5.9748566828332776e-18,-7.4123446549082e-08],"object_linear_velocity_m_s":[-1.0251688196477136e-17,-8.105356967792419e-17,6.795419633064593e-15],"object_angular_velocity_rad_s":[2.6903188706004207e-15,-5.596009925229667e-16,-7.528032938461306e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538300621015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9812718312509139,-1.6251456138821905,1.563089269190754,-1.5333294078418238,-1.5708192122143236,-0.41047585568628553,0.0],"actuator_force":[-0.000953253243551444,-19.60573539795996,-22.143291894472895,-2.2862531127451575,0.0026188686689465612,0.008182499577202407,-0.2944836866578505],"issued_joint_targets_rad":[-1.9814458038130114,-1.6157037380325852,1.5780086949790724,-1.532871174716566,-1.5708202241563376,-0.4106453774778584],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.92000000000098,"joint_targets_rad":[-1.9814458038130114,-1.6157037380325852,1.5780086949790724,-1.532871174716566,-1.5708202241563376,-0.4106453774778584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.940000000000986,"qpos":[-1.9798305282145823,-1.6129679391969365,1.5336263371349568,-1.491304663114822,-1.5708234409228632,-0.40903615059814485,0.0029342194952413827,0.0001566322417388219,0.003194038309902016,-0.0034301766500883088,0.0029340862483400714,0.00015603148854500867,0.0031952595601473523,-0.0034396035717472336,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-5.698807736889282e-17,1.7120647960967156e-17,-7.460465832118658e-08],"qvel":[-0.00805474518240551,-0.01248336569463441,0.22509518460682879,-0.20906770493956875,-4.303294549609009e-06,-0.008127961456810212,0.00011715482478418778,4.3273310791900086e-05,7.757873958731569e-05,-0.0002273204864915721,9.663401976465349e-05,-7.368536699130301e-06,-0.0001755238917748479,-0.0002622623468737789,-2.2881688171133143e-17,-7.1980306695911e-17,6.7995829694069385e-15,2.342705565380529e-15,-3.3410380276264917e-16,-1.374428708054826e-08],"joint_position_rad":[-1.9798305282145823,-1.6129679391969365,1.5336263371349568,-1.491304663114822,-1.5708234409228632,-0.40903615059814485],"joint_velocity_rad_s":[-0.00805474518240551,-0.01248336569463441,0.22509518460682879,-0.20906770493956875,-4.303294549609009e-06,-0.008127961456810212],"linkage_position_rad":[0.0029342194952413827,0.0001566322417388219,0.003194038309902016,-0.0034301766500883088,0.0029340862483400714,0.00015603148854500867,0.0031952595601473523,-0.0034396035717472336],"tcp_position_m":[0.06510855698822625,0.48709862355947103,0.36287642000543296],"tcp_quaternion_wxyz":[4.018502953293555e-05,0.707106089272939,0.7071074689887762,-6.479644804295793e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-5.698807736889282e-17,1.7120647960967156e-17,-7.460465832118658e-08],"object_linear_velocity_m_s":[-2.2881688171133143e-17,-7.1980306695911e-17,6.7995829694069385e-15],"object_angular_velocity_rad_s":[2.342705515058483e-15,-3.341041538826633e-16,-1.3744287080548275e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353805124724,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.981441354359644,-1.6252676432147903,1.567571236748208,-1.5376906242018977,-1.570819069134596,-0.4106453799606148,0.0],"actuator_force":[0.00024578283864684636,-19.60606175785415,-22.148274616229628,-2.2862100495809727,0.0026162235885749396,0.008181464446067821,-0.29448423140181695],"issued_joint_targets_rad":[-1.9816153840395603,-1.6158106551442264,1.58247636789426,-1.5372327301608009,-1.5708200820298428,-0.4108149581533447],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.940000000000986,"joint_targets_rad":[-1.9816153840395603,-1.6158106551442264,1.58247636789426,-1.5372327301608009,-1.5708200820298428,-0.4108149581533447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.960000000000993,"qpos":[-1.979999790653379,-1.6132419855453586,1.5382674309450866,-1.4956662358642459,-1.5708231449404788,-0.4092058649068183,0.0029342205973966395,0.00015663153365508812,0.003194049086854368,-0.0034301753156846014,0.002934087590065063,0.00015603315857296753,0.0031952784086636157,-0.003439601009202341,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-6.716350419736536e-17,1.603019181071337e-17,-7.508812953323229e-08],"qvel":[-0.008059327674434593,-0.01163262245258557,0.22422387228644733,-0.20906820925132155,-5.0415650595980185e-06,-0.008127286580596785,0.00011717739532912589,4.325755590696065e-05,7.858929120354233e-05,-0.00022708623269933776,9.668722597457204e-05,-7.221220741992795e-06,-0.0001740509849110529,-0.00026210625341111405,-2.290816542120974e-17,-8.950717770957102e-17,6.798195190626154e-15,1.097373761041555e-15,-7.069079111315158e-16,-2.509359734431849e-08],"joint_position_rad":[-1.979999790653379,-1.6132419855453586,1.5382674309450866,-1.4956662358642459,-1.5708231449404788,-0.4092058649068183],"joint_velocity_rad_s":[-0.008059327674434593,-0.01163262245258557,0.22422387228644733,-0.20906820925132155,-5.0415650595980185e-06,-0.008127286580596785],"linkage_position_rad":[0.0029342205973966395,0.00015663153365508812,0.003194049086854368,-0.0034301753156846014,0.002934087590065063,0.00015603315857296753,0.0031952784086636157,-0.003439601009202341],"tcp_position_m":[0.06519657938075299,0.48710064330645964,0.36116415850030403],"tcp_quaternion_wxyz":[4.104206220587396e-05,0.7071059293480678,0.7071076286203636,-6.740355973941006e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-6.716350419736536e-17,1.603019181071337e-17,-7.508812953323229e-08],"object_linear_velocity_m_s":[-2.290816542120974e-17,-8.950717770957102e-17,6.798195190626154e-15],"object_angular_velocity_rad_s":[1.0973736540762479e-15,-7.069080793017428e-16,-2.5093597344318516e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537802728307,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9816109339991295,-1.6253718882873223,1.5720357692549634,-1.5420522029384995,-1.5708189261661396,-0.41081496064289613,0.0],"actuator_force":[0.0014443782729358645,-19.60675650289295,-22.152872294825556,-2.286162611994655,0.0026135436755794217,0.008180790020759332,-0.2944847324796036],"issued_joint_targets_rad":[-1.9817850227931875,-1.6158995584146076,1.5869264662637814,-1.5415947173889637,-1.5708199399987612,-0.41098459717893143],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.960000000000993,"joint_targets_rad":[-1.9817850227931875,-1.6158995584146076,1.5869264662637814,-1.5415947173889637,-1.5708199399987612,-0.41098459717893143],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.980000000001,"qpos":[-1.9801690880734824,-1.613498371413243,1.5428904644272865,-1.5000278463291035,-1.5708228634200152,-0.4093755717297469,0.0029342214196984994,0.00015663082761549087,0.0031940595143268406,-0.003430173733482226,0.0029340886506231847,0.00015603481678957065,0.0031952968808174583,-0.0034395981878477394,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-5.775034953337389e-17,2.4378463780852252e-17,-7.549839253418404e-08],"qvel":[-0.008064040360768774,-0.010780076030938746,0.22335495831904156,-0.20907070664826882,-5.707227399392102e-06,-0.008126944234560644,0.00011720263384185583,4.324241530599644e-05,7.959523250441412e-05,-0.00022685805761985493,9.674297816552056e-05,-7.074477390075845e-06,-0.00017258730710261564,-0.00026195770383062903,-4.586314642675513e-17,-8.596878782105218e-17,6.553946125208619e-15,8.700406291812835e-16,1.3118116789233338e-15,-4.581457182817273e-08],"joint_position_rad":[-1.9801690880734824,-1.613498371413243,1.5428904644272865,-1.5000278463291035,-1.5708228634200152,-0.4093755717297469],"joint_velocity_rad_s":[-0.008064040360768774,-0.010780076030938746,0.22335495831904156,-0.20907070664826882,-5.707227399392102e-06,-0.008126944234560644],"linkage_position_rad":[0.0029342214196984994,0.00015663082761549087,0.0031940595143268406,-0.003430173733482226,0.0029340886506231847,0.00015603481678957065,0.0031952968808174583,-0.0034395981878477394],"tcp_position_m":[0.06528468295964729,0.4871027776009296,0.3594518257049042],"tcp_quaternion_wxyz":[4.182459500137929e-05,0.7071057844468214,0.7071077732424076,-6.980481331341348e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-5.775034953337389e-17,2.4378463780852252e-17,-7.549839253418404e-08],"object_linear_velocity_m_s":[-4.586314642675513e-17,-8.596878782105218e-17,6.553946125208619e-15],"object_angular_velocity_rad_s":[8.700408250268427e-16,1.3118115422583678e-15,-4.581457182817279e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537558182151,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9817805720948674,-1.6254583165285004,1.576482903930869,-1.5464142144767006,-1.5708187833443599,-0.410984599674778,0.0],"actuator_force":[0.0026481015370336536,-19.60785981813933,-22.157104320451708,-2.286113408971687,0.002610760567563375,0.008180450940528772,-0.29448523157612105],"issued_joint_targets_rad":[-1.9819547226553376,-1.6159704169131541,1.591359046441659,-1.5459572236054206,-1.570819798131003,-0.4111542971471885],"issued_gripper_0_255":0.0,"command":{"t_seconds":7.980000000001,"joint_targets_rad":[-1.9819547226553376,-1.6159704169131541,1.591359046441659,-1.5459572236054206,-1.570819798131003,-0.4111542971471885],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.000000000001005,"qpos":[-1.9803384229978473,-1.6137370599374552,1.5474954888102341,-1.5043895393818238,-1.5708225949864545,-0.40954527761399234,0.0029342220133410863,0.00015663012529097063,0.003194069627811221,-0.003430171965805081,0.0029340894821299137,0.00015603646698817577,0.0031953150212751104,-0.0034395951727357685,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-4.259419319676557e-17,4.3313040013441527e-17,-7.585952338808414e-08],"qvel":[-0.008068884934393545,-0.009925751068268141,0.22248847113520492,-0.20907540973207261,-6.307825636300938e-06,-0.008126914442583151,0.00011723024928760304,4.3227543888285935e-05,8.05983036557006e-05,-0.00022663255141599668,9.680087727372209e-05,-6.928928963424035e-06,-0.00017113293360033024,-0.00026181392555371744,-1.3431548060653477e-16,-7.694734563872571e-17,6.263900360025297e-15,3.532150581647831e-16,7.74467921393899e-15,-8.364583853790973e-08],"joint_position_rad":[-1.9803384229978473,-1.6137370599374552,1.5474954888102341,-1.5043895393818238,-1.5708225949864545,-0.40954527761399234],"joint_velocity_rad_s":[-0.008068884934393545,-0.009925751068268141,0.22248847113520492,-0.20907540973207261,-6.307825636300938e-06,-0.008126914442583151],"linkage_position_rad":[0.0029342220133410863,0.00015663012529097063,0.003194069627811221,-0.003430171965805081,0.0029340894821299137,0.00015603646698817577,0.0031953150212751104,-0.0034395951727357685],"tcp_position_m":[0.06537287121182891,0.48710503217240464,0.35773942198319064],"tcp_quaternion_wxyz":[4.254002495034354e-05,0.7071056531461205,0.7071079042778322,-7.202052491419548e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-4.259419319676557e-17,4.3313040013441527e-17,-7.585952338808414e-08],"object_linear_velocity_m_s":[-1.3431548060653477e-16,-7.694734563872571e-17,6.263900360025297e-15],"object_angular_velocity_rad_s":[3.5321622593421576e-16,7.744679153223805e-15,-8.364583853790984e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537317421099,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9819502712284207,-1.6255268977879185,1.580912697123394,-1.5507767458789032,-1.5708186407326037,-0.4111542996488841,0.0],"actuator_force":[0.0038575126109208213,-19.609375273619207,-22.16097182776184,-2.2860622753324833,0.0026079094890292254,0.008180426812458563,-0.2944857304063566],"issued_joint_targets_rad":[-1.9821244865382683,-1.6160231964545342,1.595774161242844,-1.5503203357533895,-1.5708196564870724,-0.41132406097964186],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.000000000001005,"joint_targets_rad":[-1.9821244865382683,-1.6160231964545342,1.595774161242844,-1.5503203357533895,-1.5708196564870724,-0.41132406097964186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.020000000000994,"qpos":[-1.9805077979747843,-1.6139580145401469,1.5520825555261073,-1.5087513639184462,-1.5708223384028808,-0.40971498875755724,0.0029342224214502968,0.00015662942673581664,0.003194079469166454,-0.0034301700529625763,0.0029340901275791403,0.00015603810905094568,0.003195332869288643,-0.003439592005388701,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-2.8547405149764086e-17,5.648044919550645e-17,-7.617681197808533e-08],"qvel":[-0.008073863071789391,-0.009069660295250415,0.2216244176227124,-0.20908251071019238,-6.849920111203997e-06,-0.008127180655393156,0.0001172598211574991,4.3212937171286246e-05,8.159847196419334e-05,-0.00022640925169313512,9.686050060705165e-05,-6.78457195640816e-06,-0.0001696879550777102,-0.0002616744514447854,-6.434738369418303e-17,-3.768638847891315e-17,6.892564147719291e-15,1.7270489625591333e-15,-1.6912461318153485e-15,-9.06234161580544e-09],"joint_position_rad":[-1.9805077979747843,-1.6139580145401469,1.5520825555261073,-1.5087513639184462,-1.5708223384028808,-0.40971498875755724],"joint_velocity_rad_s":[-0.008073863071789391,-0.009069660295250415,0.2216244176227124,-0.20908251071019238,-6.849920111203997e-06,-0.008127180655393156],"linkage_position_rad":[0.0029342224214502968,0.00015662942673581664,0.003194079469166454,-0.0034301700529625763,0.0029340901275791403,0.00015603810905094568,0.003195332869288643,-0.003439592005388701],"tcp_position_m":[0.06546114786502856,0.48710741317435974,0.35602694770655374],"tcp_quaternion_wxyz":[4.319504636538083e-05,0.7071055341551854,0.7071080230170411,-7.40690807988112e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-2.8547405149764086e-17,5.648044919550645e-17,-7.617681197808533e-08],"object_linear_velocity_m_s":[-6.434738369418303e-17,-3.768638847891315e-17,6.892564147719291e-15],"object_angular_velocity_rad_s":[1.7270487038679485e-15,-1.6912463954549121e-15,-9.062341615805451e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313537080089819,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982120034312663,-1.625577598645835,1.5853252016479817,-1.5551398839607786,-1.5708184983872884,-0.41132406348678907,0.0],"actuator_force":[0.005072552958608867,-19.611304093275976,-22.16447480533634,-2.286008950146993,0.002604999807317654,0.008180700923418271,-0.29448622906029465],"issued_joint_targets_rad":[-1.982294317598835,-1.6160578594451298,1.6001718591517433,-1.554684139879835,-1.5708195151187958,-0.4114938918409388],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.020000000000994,"joint_targets_rad":[-1.982294317598835,-1.6160578594451298,1.6001718591517433,-1.554684139879835,-1.5708195151187958,-0.4114938918409388],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.040000000000983,"qpos":[-1.9806772155908063,-1.6141611986077522,1.5566517157733213,-1.5131133724018602,-1.570822092555339,-0.4098847110665591,0.0029342226794768925,0.0001566287320409664,0.003194089074225853,-0.003430168028347282,0.0029340906222539713,0.0001560397428035212,0.0031953504575861357,-0.0034395887199603456,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-1.0126205896268263e-17,6.541548748443625e-17,-7.663431493652563e-08],"qvel":[-0.008078977481648625,-0.00821179959867263,0.22076278384639703,-0.20909217937574837,-7.3393930755219366e-06,-0.008127729026104301,0.00011729098389540895,4.319858031462554e-05,8.259556160234798e-05,-0.00022618772260439774,9.692149509011303e-05,-6.641376850800815e-06,-0.00016825244005332768,-0.00026153892361330017,-7.995954540433887e-17,-1.4229488894533633e-17,6.960565307977583e-15,1.093484959381344e-15,-1.8094793567956424e-15,-1.654554726418147e-08],"joint_position_rad":[-1.9806772155908063,-1.6141611986077522,1.5566517157733213,-1.5131133724018602,-1.570822092555339,-0.4098847110665591],"joint_velocity_rad_s":[-0.008078977481648625,-0.00821179959867263,0.22076278384639703,-0.20909217937574837,-7.3393930755219366e-06,-0.008127729026104301],"linkage_position_rad":[0.0029342226794768925,0.0001566287320409664,0.003194089074225853,-0.003430168028347282,0.0029340906222539713,0.0001560397428035212,0.0031953504575861357,-0.0034395887199603456],"tcp_position_m":[0.06554951690978353,0.48710992722827023,0.3543144032742467],"tcp_quaternion_wxyz":[4.3795707878845205e-05,0.7071054262998909,0.7071081306336283,-7.596709790468534e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-1.0126205896268263e-17,6.541548748443625e-17,-7.663431493652563e-08],"object_linear_velocity_m_s":[-7.995954540433887e-17,-1.4229488894533633e-17,6.960565307977583e-15],"object_angular_velocity_rad_s":[1.093484679880241e-15,-1.8094795247276525e-15,-1.6545547264181492e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536845882277,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.982289864505319,-1.625610382267075,1.58972046599702,-1.5595037146546213,-1.5708183563565883,-0.4114938943531839,0.0],"actuator_force":[0.006293163634381926,-19.61364747917696,-22.167613091161456,-2.2859531888057063,0.0026020386828804476,0.008181259297998622,-0.2944867274814708],"issued_joint_targets_rad":[-1.982464219263367,-1.6160743646119458,1.6045521840165682,-1.5590487210992752,-1.570819374069956,-0.41166379316381047],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.040000000000983,"joint_targets_rad":[-1.982464219263367,-1.6160743646119458,1.6045521840165682,-1.5590487210992752,-1.570819374069956,-0.41166379316381047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.060000000000972,"qpos":[-1.980846678492289,-1.6143465751441526,1.5612030200987599,-1.517475620431105,-1.5708218564401535,-0.41005445020878983,0.0029342228164780646,0.00015662804126307547,0.0031940984725504374,-0.0034301659192930356,0.002934090995062831,0.00015604136810184712,0.003195367813048136,-0.003439585344400182,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,1.429800669426491e-18,6.857480249902896e-17,-7.708875720909624e-08],"qvel":[-0.008084232018573202,-0.007352148014302193,0.21990353578438157,-0.20910456501980265,-7.781529158340429e-06,-0.008128548265652989,0.00011732343294618539,4.318445817663818e-05,8.358945214932959e-05,-0.00022596757687077837,9.698356925358328e-05,-6.49931275423027e-06,-0.0001668263937370886,-0.0002614070385356651,-9.252615271900359e-17,3.551022574113677e-19,6.8842374750346054e-15,6.72003563251173e-16,-9.582600711859933e-16,-3.0207991033333614e-08],"joint_position_rad":[-1.980846678492289,-1.6143465751441526,1.5612030200987599,-1.517475620431105,-1.5708218564401535,-0.41005445020878983],"joint_velocity_rad_s":[-0.008084232018573202,-0.007352148014302193,0.21990353578438157,-0.20910456501980265,-7.781529158340429e-06,-0.008128548265652989],"linkage_position_rad":[0.0029342228164780646,0.00015662804126307547,0.0031940984725504374,-0.0034301659192930356,0.002934090995062831,0.00015604136810184712,0.003195367813048136,-0.003439585344400182],"tcp_position_m":[0.06563798262960145,0.48711258147428493,0.3526017891148707],"tcp_quaternion_wxyz":[4.434747399098261e-05,0.7071053285115101,0.7071082281956849,-7.772959299324624e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,1.429800669426491e-18,6.857480249902896e-17,-7.708875720909624e-08],"object_linear_velocity_m_s":[-9.252615271900359e-17,3.551022574113677e-19,6.8842374750346054e-15],"object_angular_velocity_rad_s":[6.72003411365996e-16,-9.582601747074392e-16,-3.020799103333366e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536614545403,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9824597652338123,-1.625625208137056,1.5940985340345764,-1.5638683229718708,-1.5708182146810277,-0.4116637956808392,0.0],"actuator_force":[0.007519324382428749,-19.61640678008598,-22.170386442119707,-2.2858947684026134,0.002599032478656227,0.008182090540600484,-0.2944872255880436],"issued_joint_targets_rad":[-1.9826341952643,-1.6160726666820404,1.6089151747437789,-1.5634141636071828,-1.5708192333769782,-0.4118337686857603],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.060000000000972,"joint_targets_rad":[-1.9826341952643,-1.6160726666820404,1.6089151747437789,-1.5634141636071828,-1.5708192333769782,-0.4118337686857603],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.080000000000961,"qpos":[-1.9810161894087903,-1.614514106425137,1.5657365179915068,-1.5218381663520517,-1.570821629152572,-0.410224211665603,0.002934222856269111,0.00015662735443789025,0.003194107688456325,-0.0034301637482139283,0.002934091269686148,0.00015604298483842222,0.003195384957762849,-0.003439581901536706,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-2.051473912205073e-18,6.936529007762782e-17,-7.746306867547172e-08],"qvel":[-0.008089631755399925,-0.006490667834810499,0.21904661984078608,-0.2091197984640265,-8.181076989483938e-06,-0.008129629566021972,0.00011735691443155403,4.317055511011024e-05,8.458008701983274e-05,-0.0002257484654135709,9.704648318419313e-05,-6.35834769150542e-06,-0.00016540975969231412,-0.00026127854361192814,-1.1860889886140907e-16,-6.546287774800428e-18,6.213940323917167e-15,-8.940222689468096e-16,1.607548998513121e-15,-5.51521631590571e-08],"joint_position_rad":[-1.9810161894087903,-1.614514106425137,1.5657365179915068,-1.5218381663520517,-1.570821629152572,-0.410224211665603],"joint_velocity_rad_s":[-0.008089631755399925,-0.006490667834810499,0.21904661984078608,-0.2091197984640265,-8.181076989483938e-06,-0.008129629566021972],"linkage_position_rad":[0.002934222856269111,0.00015662735443789025,0.003194107688456325,-0.0034301637482139283,0.002934091269686148,0.00015604298483842222,0.003195384957762849,-0.003439581901536706],"tcp_position_m":[0.06572654963562237,0.48711538362926726,0.35088910568711845],"tcp_quaternion_wxyz":[4.485528134835524e-05,0.7071052398166282,0.70710831667592,-7.937013710685126e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-2.051473912205073e-18,6.936529007762782e-17,-7.746306867547172e-08],"object_linear_velocity_m_s":[-1.1860889886140907e-16,-6.546287774800428e-18,6.213940323917167e-15],"object_angular_velocity_rad_s":[-8.940220275467352e-16,1.6075491367942352e-15,-5.515216315905719e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536385870372,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9826297402318813,-1.62562203174829,1.5984594446911748,-1.5682337930153545,-1.5708180733941306,-0.4118337712072941,0.0],"actuator_force":[0.008751055978336808,-19.61958351238127,-22.172794536978472,-2.285833485248645,0.0025959869196867658,0.008183185756678313,-0.2944877232858417],"issued_joint_targets_rad":[-1.9828042496835925,-1.6160527160020859,1.6132608649343587,-1.5677805506954259,-1.5708190930695225,-0.4120038224925043],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.080000000000961,"joint_targets_rad":[-1.9828042496835925,-1.6160527160020859,1.6132608649343587,-1.5677805506954259,-1.5708190930695225,-0.4120038224925043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.10000000000095,"qpos":[-1.981185751177954,-1.6146637536504576,1.57025225748135,-1.5262010709066696,-1.570821409876543,-0.4103940007829612,0.0029342228183736174,0.00015662667158272144,0.003194116741942597,-0.0034301615335230813,0.002934091465524458,0.00015604459294006075,0.003195401909923409,-0.0034395784099981305,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,-1.6057790570196979e-18,6.730757600016221e-17,-7.777255886778863e-08],"qvel":[-0.008095183076853378,-0.005627304449329132,0.21819196302995306,-0.20913799391499263,-8.542303738212979e-06,-0.008130966561816293,0.00011739121537319987,4.315685462617313e-05,8.556746785736323e-05,-0.00022553006451655252,9.711003897148931e-05,-6.218448647906624e-06,-0.0001640024259208689,-0.0002611532271800994,-2.1277948434202426e-16,7.410304699075493e-18,6.506761646662054e-15,1.0687203425498989e-15,8.182098011413403e-15,-1.0069392227251736e-07],"joint_position_rad":[-1.981185751177954,-1.6146637536504576,1.57025225748135,-1.5262010709066696,-1.570821409876543,-0.4103940007829612],"joint_velocity_rad_s":[-0.008095183076853378,-0.005627304449329132,0.21819196302995306,-0.20913799391499263,-8.542303738212979e-06,-0.008130966561816293],"linkage_position_rad":[0.0029342228183736174,0.00015662667158272144,0.003194116741942597,-0.0034301615335230813,0.002934091465524458,0.00015604459294006075,0.003195401909923409,-0.0034395784099981305],"tcp_position_m":[0.0658152229062836,0.4871183420535565,0.3491763534809794],"tcp_quaternion_wxyz":[4.532358963820994e-05,0.7071051593279131,0.7071083969609239,-8.09009952647238e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,-1.6057790570196979e-18,6.730757600016221e-17,-7.777255886778863e-08],"object_linear_velocity_m_s":[-2.1277948434202426e-16,7.410304699075493e-18,6.506761646662054e-15],"object_angular_velocity_rad_s":[1.0687216016803584e-15,8.182097844855701e-15,-1.0069392227251752e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536159684652,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9827997935829877,-1.6256008042270957,1.6028032316003569,-1.5726002079936798,-1.570817932522983,-0.4120038250182966,0.0],"actuator_force":[0.009988420673835208,-19.6231793735451,-22.174836973967558,-2.2857691520057415,0.002592907153825763,0.008184538513944517,-0.2944882204666272],"issued_joint_targets_rad":[-1.9829743870039869,-1.616014458084916,1.6175892824456133,-1.5721479647666108,-1.570818953170988,-0.41217395906924814],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.10000000000095,"joint_targets_rad":[-1.9829743870039869,-1.616014458084916,1.6175892824456133,-1.5721479647666108,-1.570818953170988,-0.41217395906924814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.120000000000939,"qpos":[-1.9813553667725061,-1.6147954765870025,1.574750284734622,-1.5305643969171137,-1.5708211978754985,-0.410563822822467,0.002934222718803064,0.00015662599269721994,0.0031941256494503988,-0.0034301592903767265,0.0029340915984759634,0.00015604619236356368,0.0031954186845633624,-0.0034395748849448864,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,2.506053343033141e-18,7.4892414877928e-17,-7.815451490024633e-08],"qvel":[-0.008100893803385504,-0.004761985857466334,0.2173394727975544,-0.2091592506386975,-8.86904402822813e-06,-0.008132555331508797,0.00011742615543189999,4.314333908642535e-05,8.655164925616012e-05,-0.0002253120649750927,9.717407268451703e-05,-6.07958128635318e-06,-0.0001626042294259394,-0.00026103091106772234,-9.249499811960777e-17,2.110118066621455e-18,7.009137565304938e-15,2.3770011838168245e-16,-2.5523824517992776e-15,-1.0909361878837505e-08],"joint_position_rad":[-1.9813553667725061,-1.6147954765870025,1.574750284734622,-1.5305643969171137,-1.5708211978754985,-0.410563822822467],"joint_velocity_rad_s":[-0.008100893803385504,-0.004761985857466334,0.2173394727975544,-0.2091592506386975,-8.86904402822813e-06,-0.008132555331508797],"linkage_position_rad":[0.002934222718803064,0.00015662599269721994,0.0031941256494503988,-0.0034301592903767265,0.0029340915984759634,0.00015604619236356368,0.0031954186845633624,-0.0034395748849448864],"tcp_position_m":[0.06590400783299237,0.48712146582819527,0.3474635330195557],"tcp_quaternion_wxyz":[4.5756427574115606e-05,0.7071050862356248,0.7071084698596771,-8.23332527171391e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,2.506053343033141e-18,7.4892414877928e-17,-7.815451490024633e-08],"object_linear_velocity_m_s":[-9.249499811960777e-17,2.110118066621455e-18,7.009137565304938e-15],"object_angular_velocity_rad_s":[2.3769971778719827e-16,-2.5523824888992466e-15,-1.0909361878837525e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535935845299,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9829699297715715,-1.6255614718875124,1.6071299226607243,-1.5769676502346295,-1.5708177920887065,-0.4121739615990813,0.0],"actuator_force":[0.011231523223614204,-19.627196258033564,-22.176513266816983,-2.28570159488811,0.0025897977988051935,0.008186144843705279,-0.29448871700453344],"issued_joint_targets_rad":[-1.9831446121699694,-1.6159578330662077,1.6219004488614535,-1.5765164873471649,-1.5708188136989278,-0.412344183361629],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.120000000000939,"joint_targets_rad":[-1.9831446121699694,-1.6159578330662077,1.6219004488614535,-1.5765164873471649,-1.5708188136989278,-0.412344183361629],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.140000000000928,"qpos":[-1.981525039330003,-1.6149092331955348,1.5792306436390922,-1.5349282090011338,-1.5708209924840364,-0.4107336830133017,0.0029342225706961472,0.00015662531776310814,0.0031941344244822436,-0.0034301570312889563,0.0029340916815738588,0.00015604778309209345,0.0031954352941551824,-0.0034395713386816402,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,1.582857664576938e-17,6.131514123107836e-17,-7.86433093095062e-08],"qvel":[-0.008106773351801587,-0.0038946218090238458,0.2164890364348995,-0.20918365447214898,-9.164743856939904e-06,-0.008134394442914316,0.00011746157995776633,4.31299894205233e-05,8.753273689617035e-05,-0.00022509416421059972,9.723844772697418e-05,-5.9417095589889655e-06,-0.00016121495843935356,-0.00026091144418853194,-7.619476612319503e-17,1.733281839585424e-17,5.5561331818267644e-15,2.1442964025025464e-16,-2.5240102065132247e-15,-1.9917739833779912e-08],"joint_position_rad":[-1.981525039330003,-1.6149092331955348,1.5792306436390922,-1.5349282090011338,-1.5708209924840364,-0.4107336830133017],"joint_velocity_rad_s":[-0.008106773351801587,-0.0038946218090238458,0.2164890364348995,-0.20918365447214898,-9.164743856939904e-06,-0.008134394442914316],"linkage_position_rad":[0.0029342225706961472,0.00015662531776310814,0.0031941344244822436,-0.0034301570312889563,0.0029340916815738588,0.00015604778309209345,0.0031954352941551824,-0.0034395713386816402],"tcp_position_m":[0.06599291027307852,0.4871247648448038,0.34575064486157464],"tcp_quaternion_wxyz":[4.615743444037519e-05,0.7071050197997782,0.7071085361114072,-8.367692905986961e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,1.582857664576938e-17,6.131514123107836e-17,-7.86433093095062e-08],"object_linear_velocity_m_s":[-7.619476612319503e-17,1.733281839585424e-17,5.5561331818267644e-15],"object_angular_velocity_rad_s":[2.1442924081470357e-16,-2.5240102396095716e-15,-1.991773983377995e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535714233667,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9831401537440076,-1.6255039756957144,1.611439539506432,-1.581336201197381,-1.5708176521068518,-0.4123441858953115,0.0],"actuator_force":[0.012480512711135816,-19.63163627674976,-22.177822839279997,-2.285630650908729,0.002586662978046661,0.008188003286505818,-0.294489212751924],"issued_joint_targets_rad":[-1.9833149306608453,-1.6158827750495774,1.6261943788494158,-1.5808861990991667,-1.5708186746653674,-0.4125145008487509],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.140000000000928,"joint_targets_rad":[-1.9833149306608453,-1.6158827750495774,1.6261943788494158,-1.5808861990991667,-1.5708186746653674,-0.4125145008487509],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.160000000000917,"qpos":[-1.9816947721861284,-1.6150049792321575,1.5836933753683864,-1.539292573315637,-1.5708207931003904,-0.4109035866061276,0.002934222384844242,0.00015662464674493575,0.003194143078105113,-0.00343015476664549,0.0029340917255095923,0.00015604936513144682,0.003195451749098224,-0.0034395677811484807,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,1.7382627288791176e-17,3.341655620755667e-17,-7.906740947343807e-08],"qvel":[-0.00811283294115635,-0.0030251025038879253,0.21564052002455558,-0.20921127918844679,-9.432499973364202e-06,-0.008136485049829972,0.00011749735414373509,4.311678492294657e-05,8.851088654346638e-05,-0.00022487605390657353,9.730304933191307e-05,-5.804795340234932e-06,-0.00015983435258907767,-0.0002607946975736111,-4.3151462410348464e-17,2.4857191034756093e-17,5.46592756107597e-15,-8.534696680792004e-17,-2.3593863812070563e-15,-3.63647630807344e-08],"joint_position_rad":[-1.9816947721861284,-1.6150049792321575,1.5836933753683864,-1.539292573315637,-1.5708207931003904,-0.4109035866061276],"joint_velocity_rad_s":[-0.00811283294115635,-0.0030251025038879253,0.21564052002455558,-0.20921127918844679,-9.432499973364202e-06,-0.008136485049829972],"linkage_position_rad":[0.002934222384844242,0.00015662464674493575,0.003194143078105113,-0.00343015476664549,0.0029340917255095923,0.00015604936513144682,0.003195451749098224,-0.0034395677811484807],"tcp_position_m":[0.0660819366116215,0.4871282499108396,0.3440376896047208],"tcp_quaternion_wxyz":[4.6529897616250345e-05,0.7071049593428606,0.7071085963928824,-8.494108137924336e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,1.7382627288791176e-17,3.341655620755667e-17,-7.906740947343807e-08],"object_linear_velocity_m_s":[-4.3151462410348464e-17,2.4857191034756093e-17,5.46592756107597e-15],"object_angular_velocity_rad_s":[-8.534734233942754e-17,-2.3593863664464736e-15,-3.6364763080734465e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535494751038,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9833104709816858,-1.6254282506233895,1.6157320968643905,-1.5857059414835557,-1.5708175125876944,-0.4125145033861147,0.0],"actuator_force":[0.013735585347603774,-19.63650178090893,-22.17876501781393,-2.285556165114599,0.0025835063453314433,0.00819011498947475,-0.29448970753507],"issued_joint_targets_rad":[-1.9834853485790853,-1.6157892113118144,1.6304710793760708,-1.585257179830887,-1.5708185360770341,-0.41268491763145526],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.160000000000917,"joint_targets_rad":[-1.9834853485790853,-1.6157892113118144,1.6304710793760708,-1.585257179830887,-1.5708185360770341,-0.41268491763145526],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.180000000000906,"qpos":[-1.9818645689125254,-1.6150826678139,1.5881385179146952,-1.5436575573255058,-1.5708205991796094,-0.41107353893021586,0.0029342221701228995,0.00015662397958906513,0.0031941516193518364,-0.0034301525051299788,0.0029340917390620882,0.0001560509385065912,0.003195468058115692,-0.0034395642203147677,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,2.1221129834326246e-17,2.2758826271218587e-17,-7.945718498860226e-08],"qvel":[-0.008119085855184185,-0.0021532967623339185,0.21479376683061283,-0.2092421877303262,-9.67509517463148e-06,-0.008138831049333304,0.00011753335782420289,4.310370267444646e-05,8.948630595627983e-05,-0.0002246574133859592,9.73677798272575e-05,-5.6687977856078424e-06,-0.0001584621006524102,-0.0002606805593147833,-4.6769131429912015e-17,4.491497245180573e-17,5.411804188625493e-15,1.393078729992475e-15,2.1314903931395148e-16,-6.63928741390267e-08],"joint_position_rad":[-1.9818645689125254,-1.6150826678139,1.5881385179146952,-1.5436575573255058,-1.5708205991796094,-0.41107353893021586],"joint_velocity_rad_s":[-0.008119085855184185,-0.0021532967623339185,0.21479376683061283,-0.2092421877303262,-9.67509517463148e-06,-0.008138831049333304],"linkage_position_rad":[0.0029342221701228995,0.00015662397958906513,0.0031941516193518364,-0.0034301525051299788,0.0029340917390620882,0.0001560509385065912,0.003195468058115692,-0.0034395642203147677],"tcp_position_m":[0.06617109383417583,0.4871319328737135,0.3423246678899459],"tcp_quaternion_wxyz":[4.687678646923791e-05,0.7071049042430128,0.7071086513252384,-8.613389749334662e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,2.1221129834326246e-17,2.2758826271218587e-17,-7.945718498860226e-08],"object_linear_velocity_m_s":[-4.6769131429912015e-17,4.491497245180573e-17,5.411804188625493e-15],"object_angular_velocity_rad_s":[1.3930787608428576e-15,2.131488207515843e-16,-6.639287413902682e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535277315202,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9834808875893635,-1.6253342248620177,1.6200076017698302,-1.5900769508470456,-1.5708173735364495,-0.41268492017235325,0.0],"actuator_force":[0.014996988397342648,-19.641795391301457,-22.179339021975466,-2.285477987737181,0.00258033109741973,0.008192483864633004,-0.2944902011475067],"issued_joint_targets_rad":[-1.9836558727581186,-1.6156770613310232,1.63473054874348,-1.5896295085060252,-1.5708183979354833,-0.412855440540008],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.180000000000906,"joint_targets_rad":[-1.9836558727581186,-1.6156770613310232,1.63473054874348,-1.5896295085060252,-1.5708183979354833,-0.412855440540008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.200000000000895,"qpos":[-1.982034433360423,-1.6151422489353926,1.5925661055761442,-1.5480232295950362,-1.570820410227341,-0.4112435454553299,0.002934221933847904,0.00015662331622365544,0.0031941600555437074,-0.003430150254084809,0.0029340917294511416,0.0001560525032583642,0.0031954842285757943,-0.003439560662511327,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,2.0143261597246208e-17,1.7357895432774562e-17,-7.97090289749848e-08],"qvel":[-0.00812554777648776,-0.0012790495428306155,0.21394859501356478,-0.20927643332615686,-9.895029923170706e-06,-0.008141439313137941,0.00011756948098214394,4.30907171897368e-05,9.045925862149536e-05,-0.00022443789590406265,9.743255469738377e-05,-5.533672695835611e-06,-0.0001570978364994996,-0.000260568931282819,-2.1876885094953422e-17,2.380581618193903e-17,5.39931417959846e-15,-8.266946449017939e-16,-5.500937771999613e-16,-7.193124210600664e-09],"joint_position_rad":[-1.982034433360423,-1.6151422489353926,1.5925661055761442,-1.5480232295950362,-1.570820410227341,-0.4112435454553299],"joint_velocity_rad_s":[-0.00812554777648776,-0.0012790495428306155,0.21394859501356478,-0.20927643332615686,-9.895029923170706e-06,-0.008141439313137941],"linkage_position_rad":[0.002934221933847904,0.00015662331622365544,0.0031941600555437074,-0.003430150254084809,0.0029340917294511416,0.0001560525032583642,0.0031954842285757943,-0.003439560662511327],"tcp_position_m":[0.0662603896129917,0.4871358267682292,0.34061158040696293],"tcp_quaternion_wxyz":[4.720078295170641e-05,0.707104853927577,0.7071087014804389,-8.72627802509312e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,2.0143261597246208e-17,1.7357895432774562e-17,-7.97090289749848e-08],"object_linear_velocity_m_s":[-2.1876885094953422e-17,2.380581618193903e-17,5.39931417959846e-15],"object_angular_velocity_rad_s":[-8.266947328463817e-16,-5.500936451201146e-16,-7.193124210600678e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535061857778,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9836514104029719,-1.6252218188610947,1.6242660526029005,-1.5944493082025994,-1.5708172349533829,-0.4128554430843123,0.0],"actuator_force":[0.01626502549743236,-19.64752003427202,-22.179543951913274,-2.2853959711658263,0.0025771399714358267,0.00819511682257712,-0.29449069334334993],"issued_joint_targets_rad":[-1.9838265108951412,-1.61554623558809,1.6389727753969308,-1.5940032632515415,-1.570818260237112,-0.4130260772667455],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.200000000000895,"joint_targets_rad":[-1.9838265108951412,-1.61554623558809,1.6389727753969308,-1.5940032632515415,-1.570818260237112,-0.4130260772667455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.220000000000883,"qpos":[-1.9822043697116432,-1.6151836689202903,1.5969761683818853,-1.552389659599569,-1.5708202257941488,-0.4114136118602759,0.002934221682069048,0.0001566226565566922,0.003194168392538734,-0.0034301480198163825,0.0029340917026281833,0.00015605405943962242,0.003195500266751925,-0.0034395571126777146,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,4.067951889332262e-17,1.3669189014880424e-17,-8.016883249559197e-08],"qvel":[-0.008132237213207572,-0.00040217863847775905,0.21310479450354267,-0.20931406050110146,-1.0094550561768246e-05,-0.008144320011331618,0.00011760561948023609,4.307779971286992e-05,9.143007068261172e-05,-0.00022421711965329346,9.749729903649484e-05,-5.399371684035656e-06,-0.00015574113188678924,-0.0002604597259112522,-1.6659504749998715e-17,4.8402415412364753e-17,5.3424152495864206e-15,-6.913455506790518e-16,-5.964368214933627e-16,-1.313282831846082e-08],"joint_position_rad":[-1.9822043697116432,-1.6151836689202903,1.5969761683818853,-1.552389659599569,-1.5708202257941488,-0.4114136118602759],"joint_velocity_rad_s":[-0.008132237213207572,-0.00040217863847775905,0.21310479450354267,-0.20931406050110146,-1.0094550561768246e-05,-0.008144320011331618],"linkage_position_rad":[0.002934221682069048,0.0001566226565566922,0.003194168392538734,-0.0034301480198163825,0.0029340917026281833,0.00015605405943962242,0.003195500266751925,-0.0034395571126777146],"tcp_position_m":[0.06634983241008303,0.4871399459931124,0.33889842790121627],"tcp_quaternion_wxyz":[4.7504309214849375e-05,0.707104807866894,0.7071087473874811,-8.833442374928516e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,4.067951889332262e-17,1.3669189014880424e-17,-8.016883249559197e-08],"object_linear_velocity_m_s":[-1.6659504749998715e-17,4.8402415412364753e-17,5.3424152495864206e-15],"object_angular_velocity_rad_s":[-6.913456466693617e-16,-5.964367095761505e-16,-1.3132828318460847e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353484832213,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9838220471224466,-1.6250909441410448,1.6285074378965325,-1.598823091633055,-1.570817096833817,-0.4130260798143454,0.0],"actuator_force":[0.017540063676733553,-19.65367898611794,-22.179378772122618,-2.2853099666328944,0.0025739352221307854,0.00819802409841941,-0.29449118382744516],"issued_joint_targets_rad":[-1.9839972717165124,-1.6153966340745387,1.6431977364366857,-1.5983785213639286,-1.5708181229730427,-0.4131968365312528],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.220000000000883,"joint_targets_rad":[-1.9839972717165124,-1.6153966340745387,1.6431977364366857,-1.5983785213639286,-1.5708181229730427,-0.4131968365312528],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.240000000000872,"qpos":[-1.9823743825390672,-1.6152068697864983,1.6013687314333758,-1.5567569175550522,-1.5708200454702608,-0.411583744110565,0.0029342214198150147,0.00015662200047511626,0.003194176634918201,-0.003430145807876234,0.0029340916635173368,0.00015605560711146716,0.0031955161780302804,-0.003439553574573143,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999978,6.156550546218777e-17,-4.007388132113043e-18,-8.06307949376964e-08],"qvel":[-0.008139176046776067,0.0004775296814879755,0.21226212280044632,-0.20935510599547033,-1.0275674490207563e-05,-0.0081474870544178,0.0001176416709878962,4.30649173661186e-05,9.239914072946172e-05,-0.00022399465104888343,9.756194441333738e-05,-5.26584093228713e-06,-0.00015439148569633662,-0.0002603528629000407,5.003000976918768e-18,7.962681074213664e-17,5.34241524958642e-15,-4.3906421397020743e-16,-8.17727675694165e-16,-2.3977228057315325e-08],"joint_position_rad":[-1.9823743825390672,-1.6152068697864983,1.6013687314333758,-1.5567569175550522,-1.5708200454702608,-0.411583744110565],"joint_velocity_rad_s":[-0.008139176046776067,0.0004775296814879755,0.21226212280044632,-0.20935510599547033,-1.0275674490207563e-05,-0.0081474870544178],"linkage_position_rad":[0.0029342214198150147,0.00015662200047511626,0.003194176634918201,-0.003430145807876234,0.0029340916635173368,0.00015605560711146716,0.0031955161780302804,-0.003439553574573143],"tcp_position_m":[0.06643943160154113,0.48714430652421004,0.3371852111827015],"tcp_quaternion_wxyz":[4.7789552505351216e-05,0.7071047655682245,0.7071087895384764,-8.935488226715679e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999978,6.156550546218777e-17,-4.007388132113043e-18,-8.06307949376964e-08],"object_linear_velocity_m_s":[5.003000976918768e-18,7.962681074213664e-17,5.34241524958642e-15],"object_angular_velocity_rad_s":[-4.390643456460953e-16,-8.177276019376225e-16,-2.397722805731537e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534636661977,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9839928064771526,-1.624941501814326,1.6327317348483164,-1.6031983783950596,-1.5708169591680092,-0.4131968390820529,0.0],"actuator_force":[0.01882254253996507,-19.660275928250485,-22.178842290297325,-2.285219820456632,0.0025707185748160555,0.008201219697809847,-0.29449167224362377],"issued_joint_targets_rad":[-1.9841681651861234,-1.6152281444150953,1.6474053957416273,-1.602755359313687,-1.5708179861288487,-0.41336772828843554],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.240000000000872,"joint_targets_rad":[-1.9841681651861234,-1.6152281444150953,1.6474053957416273,-1.602755359313687,-1.5708179861288487,-0.41336772828843554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.260000000000861,"qpos":[-1.9825444768793066,-1.6152117884978534,1.6057438141338582,-1.561125074263409,-1.5708198688806818,-0.4117539485483769,0.0029342211512984333,0.00015662134784146257,0.0031941847861120315,-0.003430143623301568,0.002934091616215792,0.00015605714633831584,0.0031955319670732706,-0.0034395500509195234,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,7.771060660484969e-17,-4.226033502455409e-17,-8.107877972105052e-08],"qvel":[-0.008146390240525384,0.0013603264118002187,0.2114202993762402,-0.2093995996016989,-1.044021239688883e-05,-0.008150958689873518,0.0001176775307636582,4.3052032078140126e-05,9.336695425645868e-05,-0.00022376998931080346,9.76264258709426e-05,-5.1330198316142245e-06,-0.00015304830922078797,-0.00026024826695414144,7.519809143490477e-17,1.1693548967804179e-16,5.7087888477127235e-15,1.1437794959586038e-15,-3.574743437567323e-15,-4.3776363428458396e-08],"joint_position_rad":[-1.9825444768793066,-1.6152117884978534,1.6057438141338582,-1.561125074263409,-1.5708198688806818,-0.4117539485483769],"joint_velocity_rad_s":[-0.008146390240525384,0.0013603264118002187,0.2114202993762402,-0.2093995996016989,-1.044021239688883e-05,-0.008150958689873518],"linkage_position_rad":[0.0029342211512984333,0.00015662134784146257,0.0031941847861120315,-0.003430143623301568,0.002934091616215792,0.00015605714633831584,0.0031955319670732706,-0.0034395500509195234],"tcp_position_m":[0.06652919762894552,0.4871489261744296,0.33547193113716045],"tcp_quaternion_wxyz":[4.805848759347018e-05,0.7071047265696347,0.7071088283947672,-9.032963260907412e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,7.771060660484969e-17,-4.226033502455409e-17,-8.107877972105052e-08],"object_linear_velocity_m_s":[7.519809143490477e-17,1.1693548967804179e-16,5.7087888477127235e-15],"object_angular_velocity_rad_s":[1.1437789199869252e-15,-3.5747436162359915e-15,-4.377636342845839e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353442684044,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.984163698434295,-1.6247733807236069,1.6369389074442764,-1.607575244923028,-1.5708168219408751,-0.4133677308423545,0.0],"actuator_force":[0.02011298623347102,-19.667315016226894,-22.177933129659777,-2.2851253696396725,0.0025674911429405256,0.008204721998538389,-0.2944921581588843],"issued_joint_targets_rad":[-1.9843392027712905,-1.6150406394774093,1.6515957015765532,-1.60713385274764,-1.5708178496840888,-0.4135387639940149],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.260000000000861,"joint_targets_rad":[-1.9843392027712905,-1.6150406394774093,1.6515957015765532,-1.60713385274764,-1.5708178496840888,-0.4135387639940149],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.28000000000085,"qpos":[-1.9827146583212396,-1.6151983560658398,1.6101014292688927,-1.5654942009716433,-1.5708196956805534,-0.41192423199908185,0.002934220880091234,0.0001566206984912667,0.0031941928484702257,-0.003430141470871034,0.002934091564162866,0.0001560586771821635,0.0031955476379455275,-0.003439546543511654,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,7.369211211759072e-17,-5.846507255043686e-17,-8.142384450884012e-08],"qvel":[-0.008153910765721948,0.0022465073955060546,0.21057899821821835,-0.20944756493127045,-1.0589787841561478e-05,-0.008154758305113542,0.00011771308705192168,4.3039099152786024e-05,9.433410371300302e-05,-0.00022354254200325952,9.769067894459432e-05,-5.000839005365965e-06,-0.00015171090512993787,-0.0002601458650648221,1.3052527940075967e-16,1.4684921429347382e-16,6.152878057562787e-15,3.23946335093968e-15,-5.1930166297725895e-15,-7.992458471177469e-08],"joint_position_rad":[-1.9827146583212396,-1.6151983560658398,1.6101014292688927,-1.5654942009716433,-1.5708196956805534,-0.41192423199908185],"joint_velocity_rad_s":[-0.008153910765721948,0.0022465073955060546,0.21057899821821835,-0.20944756493127045,-1.0589787841561478e-05,-0.008154758305113542],"linkage_position_rad":[0.002934220880091234,0.0001566206984912667,0.0031941928484702257,-0.003430141470871034,0.002934091564162866,0.0001560586771821635,0.0031955476379455275,-0.003439546543511654],"tcp_position_m":[0.06661914218573227,0.4871538249139862,0.33375858874037256],"tcp_quaternion_wxyz":[4.831289693154976e-05,0.7071046904336376,0.7071088643932861,-9.126363050929084e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,7.369211211759072e-17,-5.846507255043686e-17,-8.142384450884012e-08],"object_linear_velocity_m_s":[1.3052527940075967e-16,1.4684921429347382e-16,6.152878057562787e-15],"object_angular_velocity_rad_s":[3.2394625146144737e-15,-5.193017145532019e-15,-7.992458471177469e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534218829797,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.984334734464869,-1.6245864550702118,1.6411289040663137,-1.6119537668309702,-1.570816685131531,-0.41353876655098387,0.0],"actuator_force":[0.021412019029867224,-19.67480096694635,-22.176649692445153,-2.2850264365363273,0.0025642532953042974,0.00820855456032632,-0.2944926410426875],"issued_joint_targets_rad":[-1.9845103977868837,-1.6148339742882785,1.655768583501422,-1.6115140764884877,-1.5708177136115786,-0.4137099569481057],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.28000000000085,"joint_targets_rad":[-1.9845103977868837,-1.6148339742882785,1.655768583501422,-1.6115140764884877,-1.5708177136115786,-0.4137099569481057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.30000000000084,"qpos":[-1.982884933115439,-1.615166496451914,1.6144415818876323,-1.5698643692426302,-1.5708195255506618,-0.4120946019001248,0.002934220609277808,0.00015662005222751883,0.003194200823265114,-0.003430139355345018,0.0029340915102848203,0.00015606019969494558,0.003195563194200829,-0.003439543053279853,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,6.355610327121155e-17,-5.988091224673335e-17,-8.172701749667665e-08],"qvel":[-0.008161774826549348,0.003136423418541413,0.20973783784793917,-0.2094990201228861,-1.0725854084664598e-05,-0.008158915511902483,0.0001177482157012872,4.302606524628512e-05,9.530131586825544e-05,-0.00022331159781089472,9.775463648533914e-05,-4.869217669366497e-06,-0.00015037843858425103,-0.0002600455832357737,6.962121795823356e-17,7.691481738037572e-17,6.276390369052335e-15,-2.689816652254017e-15,2.0992542174853394e-15,-8.659174237714136e-09],"joint_position_rad":[-1.982884933115439,-1.615166496451914,1.6144415818876323,-1.5698643692426302,-1.5708195255506618,-0.4120946019001248],"joint_velocity_rad_s":[-0.008161774826549348,0.003136423418541413,0.20973783784793917,-0.2094990201228861,-1.0725854084664598e-05,-0.008158915511902483],"linkage_position_rad":[0.002934220609277808,0.00015662005222751883,0.003194200823265114,-0.003430139355345018,0.0029340915102848203,0.00015606019969494558,0.003195563194200829,-0.003439543053279853],"tcp_position_m":[0.06670927844930463,0.4871590252695416,0.3320451850765642],"tcp_quaternion_wxyz":[4.855438871366179e-05,0.7071046567403111,0.7071088979534347,-9.216136164984561e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,6.355610327121155e-17,-5.988091224673335e-17,-8.172701749667665e-08],"object_linear_velocity_m_s":[6.962121795823356e-17,7.691481738037572e-17,6.276390369052335e-15],"object_angular_velocity_rad_s":[-2.68981630808537e-15,2.0992546582473833e-15,-8.659174237714136e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534012611777,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9845059278878658,-1.6243805813532033,1.6453016544016297,-1.6163340189115747,-1.5708165487125756,-0.41370995950806716,0.0],"actuator_force":[0.022720385765751416,-19.68273916999533,-22.174990111180705,-2.2849228221837166,0.002561004451536064,0.008212747219062067,-0.2944931202390645],"issued_joint_targets_rad":[-1.9846817658477756,-1.6146079819954986,1.6599239483200987,-1.6158961045307128,-1.5708175778763305,-0.4138813227469337],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.30000000000084,"joint_targets_rad":[-1.9846817658477756,-1.6146079819954986,1.6599239483200987,-1.6158961045307128,-1.5708175778763305,-0.4138813227469337],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.320000000000828,"qpos":[-1.9830553083114473,-1.6151161252019344,1.6187642679152099,-1.574235650835392,-1.5708193581929544,-0.4122650664603521,0.0029342203415948023,0.00015661940881484828,0.0031942087106249396,-0.0034301372817615756,0.002934091457122878,0.00015606171390745419,0.0031955786389325407,-0.0034395395803039413,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,4.4572655677370484e-17,-6.223566260175387e-17,-8.221912141955796e-08],"qvel":[-0.00817002750396244,0.0040304937905769325,0.2088963678394396,-0.20955397850427923,-1.0849708188049699e-05,-0.00816346762320909,0.00011778277348001469,4.3012865692972264e-05,9.626949203706586e-05,-0.00022307628476235256,9.781822499115902e-05,-4.738060019590294e-06,-0.00014904989644575495,-0.00025994734434222575,7.620580215788956e-17,5.668436492481328e-17,6.293043714421714e-15,-2.4147165451641428e-15,1.9407612333724034e-15,-1.5809465444229052e-08],"joint_position_rad":[-1.9830553083114473,-1.6151161252019344,1.6187642679152099,-1.574235650835392,-1.5708193581929544,-0.4122650664603521],"joint_velocity_rad_s":[-0.00817002750396244,0.0040304937905769325,0.2088963678394396,-0.20955397850427923,-1.0849708188049699e-05,-0.00816346762320909],"linkage_position_rad":[0.0029342203415948023,0.00015661940881484828,0.0031942087106249396,-0.0034301372817615756,0.002934091457122878,0.00015606171390745419,0.0031955786389325407,-0.0034395395803039413],"tcp_position_m":[0.06679962137388397,0.48716455282813137,0.33033172136236316],"tcp_quaternion_wxyz":[4.878441297529698e-05,0.7071046250795038,0.7071089294848801,-9.302688782101694e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,4.4572655677370484e-17,-6.223566260175387e-17,-8.221912141955796e-08],"object_linear_velocity_m_s":[7.620580215788956e-17,5.668436492481328e-17,6.293043714421714e-15],"object_angular_velocity_rad_s":[-2.414716224060918e-15,1.9407616318534623e-15,-1.5809465444229052e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533808178841,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.984677294322828,-1.6241555943596258,1.6494570653917004,-1.6207160751316518,-1.5708164126490527,-0.4138813253098403,0.0],"actuator_force":[0.024038978823682555,-19.691135831613792,-22.17295218279469,-2.284814297701928,0.0025577427696816812,0.008217337576809314,-0.2944935949282399],"issued_joint_targets_rad":[-1.9848533254743361,-1.6143624684902418,1.6640616746810388,-1.62028001003138,-1.5708174424340178,-0.4140528798872973],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.320000000000828,"joint_targets_rad":[-1.9848533254743361,-1.6143624684902418,1.6640616746810388,-1.62028001003138,-1.5708174424340178,-0.4140528798872973],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.340000000000817,"qpos":[-1.9832257919327971,-1.615047147715787,1.623069472397717,-1.5786081175924163,-1.5708191933258682,-0.41243563486129853,0.00293422007956676,0.00015661876797040336,0.0031942165093659736,-0.003430135255777673,0.0029340914069521506,0.00015606321981420345,0.003195593974779802,-0.0034395361237736545,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.618536300115855e-17,-6.76462748163726e-17,-8.265334636781065e-08],"qvel":[-0.008178723998959638,0.004929224873660189,0.20805405037277322,-0.20961244922151392,-1.0962502058313125e-05,-0.008168461689632043,0.00011781658934430281,4.2999420711966376e-05,9.723976279560233e-05,-0.000222835515248625,9.788136012374013e-05,-4.6072501991308185e-06,-0.0001477240297875565,-0.00025985106326249113,9.190480940045263e-17,3.379745673727664e-17,6.358269317118443e-15,-1.5292881178310567e-15,7.276937926186224e-16,-2.886409151390926e-08],"joint_position_rad":[-1.9832257919327971,-1.615047147715787,1.623069472397717,-1.5786081175924163,-1.5708191933258682,-0.41243563486129853],"joint_velocity_rad_s":[-0.008178723998959638,0.004929224873660189,0.20805405037277322,-0.20961244922151392,-1.0962502058313125e-05,-0.008168461689632043],"linkage_position_rad":[0.00293422007956676,0.00015661876797040336,0.0031942165093659736,-0.003430135255777673,0.0029340914069521506,0.00015606321981420345,0.003195593974779802,-0.0034395361237736545],"tcp_position_m":[0.06689018806543187,0.48717043688268763,0.3286181989784359],"tcp_quaternion_wxyz":[4.90042757974023e-05,0.707104595041544,0.707108959396842,-9.386388863998669e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.618536300115855e-17,-6.76462748163726e-17,-8.265334636781065e-08],"object_linear_velocity_m_s":[9.190480940045263e-17,3.379745673727664e-17,6.358269317118443e-15],"object_angular_velocity_rad_s":[-1.5292879936332853e-15,7.276940469318066e-16,-2.8864091513909268e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533605536475,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9848488522954906,-1.623911301822812,1.6535950158332653,-1.6251000086224594,-1.570816276896949,-0.414052882453111,0.0],"actuator_force":[0.025368874196828983,-19.69999816351401,-22.1705332780125,-2.2847005928701947,0.002554464665422529,0.008222373056952392,-0.2944940640732857],"issued_joint_targets_rad":[-1.9850250989191076,-1.614097205107335,1.6681816057434011,-1.6246658652935124,-1.5708173072287703,-0.41422465059181324],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.340000000000817,"joint_targets_rad":[-1.9850250989191076,-1.614097205107335,1.6681816057434011,-1.6246658652935124,-1.5708173072287703,-0.41422465059181324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.360000000000806,"qpos":[-1.9833963932040957,-1.6149594570117674,1.627357167237002,-1.582981841330979,-1.5708190306792242,-0.4126063175172606,0.002934219825648795,0.00015661812935174738,0.0031942242166890463,-0.0034301332841379308,0.002934091361899655,0.00015606471735004346,0.0031956092038775566,-0.0034395326818769745,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.1413947002925598e-17,-6.754967322709324e-17,-8.306495920074124e-08],"qvel":[-0.008187932753642985,0.005833235800362464,0.20721023457525042,-0.20967443785302978,-1.1065249790373354e-05,-0.00817395735407782,0.0001178494524098814,4.298562988900201e-05,9.821356853786577e-05,-0.00022258790713636142,9.794394077357713e-05,-4.476645079208396e-06,-0.00014639927064147225,-0.00025975664240266116,1.0807079863055504e-16,3.524101621406002e-17,6.373534883707041e-15,1.9826882856757271e-16,-8.600938016082338e-16,-5.269854201347952e-08],"joint_position_rad":[-1.9833963932040957,-1.6149594570117674,1.627357167237002,-1.582981841330979,-1.5708190306792242,-0.4126063175172606],"joint_velocity_rad_s":[-0.008187932753642985,0.005833235800362464,0.20721023457525042,-0.20967443785302978,-1.1065249790373354e-05,-0.00817395735407782],"linkage_position_rad":[0.002934219825648795,0.00015661812935174738,0.0031942242166890463,-0.0034301332841379308,0.002934091361899655,0.00015606471735004346,0.0031956092038775566,-0.0034395326818769745],"tcp_position_m":[0.06698099826959472,0.4871767112726372,0.3269046195119407],"tcp_quaternion_wxyz":[4.921515162899819e-05,0.7071045662055775,0.7071089881097552,-9.467569920296182e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.1413947002925598e-17,-6.754967322709324e-17,-8.306495920074124e-08],"object_linear_velocity_m_s":[1.0807079863055504e-16,3.524101621406002e-17,6.373534883707041e-15],"object_angular_velocity_rad_s":[1.9826869279979572e-16,-8.600938322896395e-16,-5.269854201347953e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533404707286,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985020624064664,-1.6236474771689982,1.6577153490448662,-1.6294858916625734,-1.5708161414010406,-0.41422465316050444,0.0],"actuator_force":[0.02671138032064846,-19.70933463460642,-22.16773021437166,-2.28458138049416,0.0025511640708373307,0.008227913785873398,-0.2944945263433398],"issued_joint_targets_rad":[-1.9851971133215582,-1.6138119184970212,1.6722835389957957,-1.6290537417381443,-1.5708171721899873,-0.41439666196161196],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.360000000000806,"joint_targets_rad":[-1.9851971133215582,-1.6138119184970212,1.6722835389957957,-1.6290537417381443,-1.5708171721899873,-0.41439666196161196],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.380000000000795,"qpos":[-1.983567122851516,-1.6148529307769077,1.6316273082028374,-1.5873568937344387,-1.5708188699882832,-0.41277712641941344,0.0029342195823928835,0.00015661749253968475,0.003194231827669358,-0.0034301313753227368,0.0029340913240732784,0.00015606620635419006,0.003195624327718296,-0.0034395292515951707,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.1273571826648767e-17,-6.155291574889104e-17,-8.336068072766563e-08],"qvel":[-0.008197739892196458,0.006743294916364922,0.2063641201022626,-0.2097399470309894,-1.1158830138435639e-05,-0.008180030935886389,0.00011788109475774107,4.2971364088428323e-05,9.919277821049987e-05,-0.00022233166726552423,9.800584084501042e-05,-4.3460636056972765e-06,-0.00014507360910095193,-0.0002596639646687976,1.8400839686371867e-16,7.219861419369288e-17,6.3763104412686055e-15,3.5142382542101806e-15,-7.191609520300301e-15,-9.621422967731378e-08],"joint_position_rad":[-1.983567122851516,-1.6148529307769077,1.6316273082028374,-1.5873568937344387,-1.5708188699882832,-0.41277712641941344],"joint_velocity_rad_s":[-0.008197739892196458,0.006743294916364922,0.2063641201022626,-0.2097399470309894,-1.1158830138435639e-05,-0.008180030935886389],"linkage_position_rad":[0.0029342195823928835,0.00015661749253968475,0.003194231827669358,-0.0034301313753227368,0.0029340913240732784,0.00015606620635419006,0.003195624327718296,-0.0034395292515951707],"tcp_position_m":[0.06707207501878787,0.48718341549925265,0.3251909848146285],"tcp_quaternion_wxyz":[4.9418093617592336e-05,0.7071045381241421,0.7071090160706925,-9.546534392699402e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.1273571826648767e-17,-6.155291574889104e-17,-8.336068072766563e-08],"object_linear_velocity_m_s":[1.8400839686371867e-16,7.219861419369288e-17,6.3763104412686055e-15],"object_angular_velocity_rad_s":[3.5142370670597354e-15,-7.19161010210515e-15,-9.62142296773138e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533205737683,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9851926367772805,-1.6233638494501095,1.6618178626862068,-1.633873795649373,-1.5708160060917857,-0.41439666453315854,0.0],"actuator_force":[0.02806810534957549,-19.719155312949624,-22.16453907416644,-2.2844562543682514,0.0025478312626319166,0.008234036716061155,-0.29449498000132185],"issued_joint_targets_rad":[-1.9853694023641086,-1.613506276212121,1.6763672117608788,-1.63344370985836,-1.5708170372276529,-0.41456894762935315],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.380000000000795,"joint_targets_rad":[-1.9853694023641086,-1.613506276212121,1.6763672117608788,-1.63344370985836,-1.5708170372276529,-0.41456894762935315],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.400000000000784,"qpos":[-1.9837379935093498,-1.6147274273835204,1.6358798308967788,-1.5917333462375713,-1.5708187109863512,-0.41294807560307206,0.002934219352663213,0.00015661685701413597,0.003194239334414932,-0.0034301295405243432,0.002934091295718791,0.0001560676865127516,0.0031956393468790647,-0.003439525828344591,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.6585956098694027e-17,-6.764547105517178e-17,-8.372564421904756e-08],"qvel":[-0.008208255706683936,0.007660372702640514,0.20551470417543602,-0.20980897710219407,-1.1243981766587713e-05,-0.00818678142008652,0.0001179111657788068,4.295645314488027e-05,0.00010017986974982536,-0.00022206441453108622,9.806689721121216e-05,-4.215270821404556e-06,-0.00014374440685350427,-0.0002595728828593891,8.126197794004879e-17,3.1999013571737546e-17,6.488720522511901e-15,-6.113681651386687e-16,2.238863021832339e-15,-1.0424023871100396e-08],"joint_position_rad":[-1.9837379935093498,-1.6147274273835204,1.6358798308967788,-1.5917333462375713,-1.5708187109863512,-0.41294807560307206],"joint_velocity_rad_s":[-0.008208255706683936,0.007660372702640514,0.20551470417543602,-0.20980897710219407,-1.1243981766587713e-05,-0.00818678142008652],"linkage_position_rad":[0.002934219352663213,0.00015661685701413597,0.003194239334414932,-0.0034301295405243432,0.002934091295718791,0.0001560676865127516,0.0031956393468790647,-0.003439525828344591],"tcp_position_m":[0.06716344550908224,0.48719059623794203,0.3234772970842288],"tcp_quaternion_wxyz":[4.961404166047858e-05,0.7071045103017017,0.7071090437748286,-9.623556668112838e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.6585956098694027e-17,-6.764547105517178e-17,-8.372564421904756e-08],"object_linear_velocity_m_s":[8.126197794004879e-17,3.1999013571737546e-17,6.488720522511901e-15],"object_angular_velocity_rad_s":[-6.113677888278866e-16,2.2388631247609606e-15,-1.0424023871100401e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533008708866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9853649241248543,-1.6230600890131683,1.6659022942636454,-1.638263791052401,-1.5708158708807554,-0.4145689502037401,0.0],"actuator_force":[0.02944105166443478,-19.72947234035246,-22.160954936440703,-2.284324697195302,0.002544450974596657,0.00824084167462047,-0.2944954227340503],"issued_joint_targets_rad":[-1.9855025598149594,-1.6132182890410451,1.679462463886243,-1.6368322240623217,-1.5708164565692373,-0.41470219208777065],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.400000000000784,"joint_targets_rad":[-1.9855025598149594,-1.6132182890410451,1.679462463886243,-1.6368322240623217,-1.5708164565692373,-0.41470219208777065],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.420000000000773,"qpos":[-1.9839057442752148,-1.6145781119048168,1.6400402543369552,-1.5960249208077706,-1.5708186212467277,-0.4131155920208503,0.002934750595307215,0.00015670102969102357,0.0031946866597220304,-0.0034309428475603537,0.002934592223219586,0.00015609405381139893,0.0031957606709919185,-0.003440390374345929,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,3.779838258512255e-17,-6.994349588705326e-17,-8.419269303883846e-08],"qvel":[-0.00806939850056655,0.008492363802200463,0.2001917565353917,-0.2052228578131352,-1.0540659266890114e-05,-0.008013655244508878,0.00011493465606205595,3.265269548593116e-05,0.00010141448427584747,-0.0001961130607092671,0.00010042340130727829,-1.0617565209050547e-06,-7.647181748041647e-05,-0.00022586929783987504,8.688717553283357e-17,4.7806112578969e-17,6.54561945252394e-15,-6.631204850430685e-16,2.0359964221086633e-15,-1.9031635194753188e-08],"joint_position_rad":[-1.9839057442752148,-1.6145781119048168,1.6400402543369552,-1.5960249208077706,-1.5708186212467277,-0.4131155920208503],"joint_velocity_rad_s":[-0.00806939850056655,0.008492363802200463,0.2001917565353917,-0.2052228578131352,-1.0540659266890114e-05,-0.008013655244508878],"linkage_position_rad":[0.002934750595307215,0.00015670102969102357,0.0031946866597220304,-0.0034309428475603537,0.002934592223219586,0.00015609405381139893,0.0031957606709919185,-0.003440390374345929],"tcp_position_m":[0.06725293004675127,0.4871970807401511,0.3217893063896723],"tcp_quaternion_wxyz":[5.285971221352575e-05,0.7071045923679387,0.7071089602682838,-0.00010472023414877216],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,3.779838258512255e-17,-6.994349588705326e-17,-8.419269303883846e-08],"object_linear_velocity_m_s":[8.688717553283357e-17,4.7806112578969e-17,6.54561945252394e-15],"object_angular_velocity_rad_s":[-6.631201395487373e-16,2.0359965352071637e-15,-1.9031635194753197e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313534398331405,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9854982689610745,-1.6227736013888259,1.6689984202412065,-1.6416525234109207,-1.5708152899986825,-0.41470219458915103,0.0],"actuator_force":[0.042710028507372044,-19.787924488898625,-22.16037080565411,-2.291515520261669,0.0027196899493446836,0.008064240300512893,-0.29454393121318667],"issued_joint_targets_rad":[-1.9855043873234957,-1.6130632014430464,1.6793320276416477,-1.6368770815053197,-1.5708144736320975,-0.4147044011284732],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.420000000000773,"joint_targets_rad":[-1.9855043873234957,-1.6130632014430464,1.6793320276416477,-1.6368770815053197,-1.5708144736320975,-0.4147044011284732],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.440000000000762,"qpos":[-1.9840596987250847,-1.614399748099646,1.6438293314680648,-1.5999221422500387,-1.5708187428266116,-0.4132678715603171,0.0029369080537100358,0.0001569312068995718,0.0031965788029337493,-0.003433876931487818,0.0029366768754595478,0.0001561922216241133,0.0031968480547105056,-0.003443502389303556,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,5.243169383504734e-17,-7.10220161816307e-17,-8.46534114547212e-08],"qvel":[-0.007400071506390099,0.008673002697021785,0.18050834190575743,-0.18572716512043252,-6.701909720641326e-06,-0.007255586753994152,9.485927177673143e-05,7.349243745645701e-08,9.509195959598468e-05,-9.214252994238956e-05,9.618786423163297e-05,3.4919074794549004e-06,0.0001034159842838847,-0.00010001288477845371,9.797720558269375e-17,7.5604805591488e-17,6.541456116181593e-15,2.9248321212326856e-16,7.591370289820953e-16,-3.47469597791635e-08],"joint_position_rad":[-1.9840596987250847,-1.614399748099646,1.6438293314680648,-1.5999221422500387,-1.5708187428266116,-0.4132678715603171],"joint_velocity_rad_s":[-0.007400071506390099,0.008673002697021785,0.18050834190575743,-0.18572716512043252,-6.701909720641326e-06,-0.007255586753994152],"linkage_position_rad":[0.0029369080537100358,0.0001569312068995718,0.0031965788029337493,-0.003433876931487818,0.0029366768754595478,0.0001561922216241133,0.0031968480547105056,-0.003443502389303556],"tcp_position_m":[0.0673340235570377,0.4872005271478471,0.3202309502108912],"tcp_quaternion_wxyz":[6.56663096485429e-05,0.7071051809211211,0.7071083650475025,-0.0001374128505545999],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,5.243169383504734e-17,-7.10220161816307e-17,-8.46534114547212e-08],"object_linear_velocity_m_s":[9.797720558269375e-17,7.5604805591488e-17,6.541456116181593e-15],"object_angular_velocity_rad_s":[2.9248334558594163e-16,7.591369831063649e-16,-3.4746959779163516e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313532030973433,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855008603748727,-1.6226183418275473,1.6688687941127829,-1.6416981711355758,-1.5708133065865617,-0.4147044033274654,0.0],"actuator_force":[0.0777053029801209,-19.906388534611324,-22.124411472866996,-2.3152979307253645,0.003388310997024746,0.007292791825250333,-0.294634482138521],"issued_joint_targets_rad":[-1.9855060113155583,-1.6129351622771215,1.6792259324397643,-1.6369172874958482,-1.5708127658389113,-0.41470637262192134],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.440000000000762,"joint_targets_rad":[-1.9855060113155583,-1.6129351622771215,1.6792259324397643,-1.6369172874958482,-1.5708127658389113,-0.41470637262192134],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.46000000000075,"qpos":[-1.9841997484945637,-1.6142262993649097,1.647244165278457,-1.6034507564243003,-1.5708187180261413,-0.4134057441947823,0.0029385181230804046,0.00015688681227102793,0.0031981555664341767,-0.0034353169071703396,0.0029383126859740343,0.000156216515140846,0.003198749254827685,-0.003444920826777665,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,5.383851065865577e-17,-5.458301535066076e-17,-8.502584655400244e-08],"qvel":[-0.006701761439970996,0.008296148005180966,0.1626273939405371,-0.16818860262837212,3.18628063680964e-06,-0.0065691690461901235,6.747880500337304e-05,-3.0107669515129764e-06,7.259420621600196e-05,-5.385922886238898e-05,6.878064706247293e-05,8.5912145044134e-07,8.992668850950198e-05,-5.382349533768592e-05,7.849122823057167e-17,9.656532162971132e-17,6.565048355454877e-15,1.6733513533490352e-15,1.4293368549214538e-15,-6.343917385657306e-08],"joint_position_rad":[-1.9841997484945637,-1.6142262993649097,1.647244165278457,-1.6034507564243003,-1.5708187180261413,-0.4134057441947823],"joint_velocity_rad_s":[-0.006701761439970996,0.008296148005180966,0.1626273939405371,-0.16818860262837212,3.18628063680964e-06,-0.0065691690461901235],"linkage_position_rad":[0.0029385181230804046,0.00015688681227102793,0.0031981555664341767,-0.0034353169071703396,0.0029383126859740343,0.000156216515140846,0.003198749254827685,-0.003444920826777665],"tcp_position_m":[0.06740806178467473,0.48720434439159616,0.31882227492385407],"tcp_quaternion_wxyz":[7.647959391002596e-05,0.7071059469023162,0.7071075920314764,-0.00016522014499078193],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,5.383851065865577e-17,-5.458301535066076e-17,-8.502584655400244e-08],"object_linear_velocity_m_s":[7.849122823057167e-17,9.656532162971132e-17,6.565048355454877e-15],"object_angular_velocity_rad_s":[1.6733516033355676e-15,1.4293365771961437e-15,-6.34391738565731e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514509401102,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855031322679315,-1.6224904452187312,1.668763566976232,-1.64173904222994,-1.570811597588779,-0.41470637456489684,0.0],"actuator_force":[0.07393702925264733,-19.84675090971541,-22.01215418066522,-2.325282639982561,0.0032415906174492193,0.006601719561729169,-0.2945228377130512],"issued_joint_targets_rad":[-1.9855074864498072,-1.6128317095337636,1.6791417596898772,-1.6369530075397782,-1.5708112137789019,-0.41470816232560226],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.46000000000075,"joint_targets_rad":[-1.9855074864498072,-1.6128317095337636,1.6791417596898772,-1.6369530075397782,-1.5708112137789019,-0.41470816232560226],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.48000000000074,"qpos":[-1.9843265213234034,-1.6140623035636215,1.6503215676592589,-1.6066462570304891,-1.5708185027082273,-0.41353057389987197,0.002939631326190316,0.0001568304884126907,0.003199290139652423,-0.003436238055519564,0.0029394461331490717,0.00015622488885012547,0.0032002398465032765,-0.0034457604603715533,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,4.5447657020604976e-17,-3.629413335324768e-17,-8.532096184969371e-08],"qvel":[-0.0060610489514014675,0.007823244737038148,0.14655529085699456,-0.15231045631167334,1.2307130876233513e-05,-0.005947721280196147,4.5226968838212974e-05,-2.767934579859411e-06,5.0321354468096526e-05,-3.4121762921506075e-05,4.629134326117132e-05,6.689269740681898e-07,6.665064927133642e-05,-3.299281907998536e-05,1.0126848694261483e-16,7.697270122896779e-17,6.62472284302848e-15,-7.931362392645468e-17,-2.6693585731002252e-15,-1.1582391107546197e-07],"joint_position_rad":[-1.9843265213234034,-1.6140623035636215,1.6503215676592589,-1.6066462570304891,-1.5708185027082273,-0.41353057389987197],"joint_velocity_rad_s":[-0.0060610489514014675,0.007823244737038148,0.14655529085699456,-0.15231045631167334,1.2307130876233513e-05,-0.005947721280196147],"linkage_position_rad":[0.002939631326190316,0.0001568304884126907,0.003199290139652423,-0.003436238055519564,0.0029394461331490717,0.00015622488885012547,0.0032002398465032765,-0.0034457604603715533],"tcp_position_m":[0.06747535527569264,0.487208533037446,0.3175508446934464],"tcp_quaternion_wxyz":[8.469709166780536e-05,0.7071066306005337,0.7071069020659216,-0.00018664912830108115],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,4.5447657020604976e-17,-3.629413335324768e-17,-8.532096184969371e-08],"object_linear_velocity_m_s":[1.0126848694261483e-16,7.697270122896779e-17,6.62472284302848e-15],"object_angular_velocity_rad_s":[-7.931407102347767e-17,-2.6693585490381083e-15,-1.1582391107546205e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313499889714154,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855051377491568,-1.6223873886118643,1.6686802939469974,-1.6417753116349887,-1.5708100438585133,-0.4147081640550909,0.0],"actuator_force":[0.06718672905344647,-19.779467991300862,-21.90466376732047,-2.3334816710823816,0.002998711769350848,0.005977050410137963,-0.2944114645274663],"issued_joint_targets_rad":[-1.9855088292130048,-1.612748368374383,1.6790753181617113,-1.6369847181304436,-1.5708097991899772,-0.4147097897622323],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.48000000000074,"joint_targets_rad":[-1.9855088292130048,-1.612748368374383,1.6790753181617113,-1.6369847181304436,-1.5708097991899772,-0.4147097897622323],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.500000000000728,"qpos":[-1.9844412072250586,-1.6139087735316697,1.6530956833204753,-1.6095400704933327,-1.5708181253113898,-0.4136435952857694,0.0029403499972387166,0.00015677908286090616,0.0032000341536191374,-0.00343679901551652,0.002940182613971029,0.00015623216674742275,0.0032013109805344255,-0.003446243795246959,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,3.320841872115886e-17,-3.412196297702261e-17,-8.576030953364214e-08],"qvel":[-0.005480444425400139,0.007314465475696815,0.13211307343969783,-0.13792862170914272,1.9799923353401935e-05,-0.005385096137036442,2.7834194404128647e-05,-2.492083239504713e-06,3.211555778669294e-05,-1.8702520210557182e-05,2.877389773443467e-05,5.613229518091319e-07,4.6902686429249344e-05,-1.741790343618753e-05,4.329851471728275e-17,4.1880104169195917e-17,6.318023732475782e-15,-1.53560991172037e-15,1.405980422644663e-15,-1.25485722636262e-08],"joint_position_rad":[-1.9844412072250586,-1.6139087735316697,1.6530956833204753,-1.6095400704933327,-1.5708181253113898,-0.4136435952857694],"joint_velocity_rad_s":[-0.005480444425400139,0.007314465475696815,0.13211307343969783,-0.13792862170914272,1.9799923353401935e-05,-0.005385096137036442],"linkage_position_rad":[0.0029403499972387166,0.00015677908286090616,0.0032000341536191374,-0.00343679901551652,0.002940182613971029,0.00015623216674742275,0.0032013109805344255,-0.003446243795246959],"tcp_position_m":[0.06753646884262232,0.4872129641120327,0.31640346215168236],"tcp_quaternion_wxyz":[9.06448121727317e-05,0.7071072164446878,0.7071063111258492,-0.00020248791804612447],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,3.320841872115886e-17,-3.412196297702261e-17,-8.576030953364214e-08],"object_linear_velocity_m_s":[4.329851471728275e-17,4.1880104169195917e-17,6.318023732475782e-15],"object_angular_velocity_rad_s":[-1.5356096697093523e-15,1.4059806868668426e-15,-1.2548572263626208e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348917238236,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855069133218386,-1.6223046177177223,1.6686147590076035,-1.6418074788871122,-1.5708086272316486,-0.4147097913127262,0.0],"actuator_force":[0.06076557660026083,-19.717474562383813,-21.807078001622813,-2.340842025975462,0.0027690475352528665,0.005411600225244229,-0.2943096710211801],"issued_joint_targets_rad":[-1.9855100507308883,-1.6126813511870761,1.6790230957797752,-1.6370128634061676,-1.5708085119686999,-0.4147112688785179],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.500000000000728,"joint_targets_rad":[-1.9855100507308883,-1.6126813511870761,1.6790230957797752,-1.6370128634061676,-1.5708085119686999,-0.4147112688785179],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.520000000000717,"qpos":[-1.984544940718711,-1.6137660626249979,1.6555971270630254,-1.6121606170569045,-1.5708176173627122,-0.4137459259199506,0.0029407631554188123,0.00015673255569151898,0.003200469776639783,-0.003437081682560273,0.0029406118664556586,0.00015623862852456833,0.003202042724914718,-0.0034464561349707916,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,1.9098708160998814e-17,-1.4977204407898285e-17,-8.620172009252984e-08],"qvel":[-0.0049549799903117935,0.0067920567732113425,0.11912873848102191,-0.1249018771923725,2.579991513826565e-05,-0.004875718598551078,1.4464004860915392e-05,-2.2341074886952785e-06,1.8005691444678797e-05,-6.966784609340305e-06,1.529642472527952e-05,4.7558079448736015e-07,3.134207627254865e-05,-5.5915605923249e-06,1.8158770674941775e-17,2.5953801673817202e-17,6.041855755100275e-15,-1.2486888894071428e-15,1.2655360032996839e-15,-2.2910524044214325e-08],"joint_position_rad":[-1.984544940718711,-1.6137660626249979,1.6555971270630254,-1.6121606170569045,-1.5708176173627122,-0.4137459259199506],"joint_velocity_rad_s":[-0.0049549799903117935,0.0067920567732113425,0.11912873848102191,-0.1249018771923725,2.579991513826565e-05,-0.004875718598551078],"linkage_position_rad":[0.0029407631554188123,0.00015673255569151898,0.003200469776639783,-0.003437081682560273,0.0029406118664556586,0.00015623862852456833,0.003202042724914718,-0.0034464561349707916],"tcp_position_m":[0.06759194733976273,0.48721752600000945,0.31536805582311134],"tcp_quaternion_wxyz":[9.467400021843902e-05,0.707107710484025,0.7071058132918903,-0.0002135876578842195],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,1.9098708160998814e-17,-1.4977204407898285e-17,-8.620172009252984e-08],"object_linear_velocity_m_s":[1.8158770674941775e-17,2.5953801673817202e-17,6.041855755100275e-15],"object_angular_velocity_rad_s":[-1.2486886705380933e-15,1.2655362194530491e-15,-2.2910524044214342e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313481659097855,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985508487943448,-1.6222382822098425,1.6685634314549582,-1.6418360072299167,-1.5708073376839409,-0.41471127027777516,0.0],"actuator_force":[0.05489754665040891,-19.66126187897362,-21.71888660854347,-2.347507367268804,0.0025598478717938633,0.004899680942827445,-0.2942175532416545],"issued_joint_targets_rad":[-1.985511161110677,-1.6126275645596289,1.6789822535627728,-1.6370378474148404,-1.5708073425869453,-0.41471261234867635],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.520000000000717,"joint_targets_rad":[-1.985511161110677,-1.6126275645596289,1.6789822535627728,-1.6370378474148404,-1.5708073425869453,-0.41471261234867635],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.540000000000706,"qpos":[-1.9846387563557195,-1.6136341908681917,1.657853296743471,-1.6145336439965092,-1.5708170066485407,-0.4138385774643109,0.002940942950847213,0.00015669056420225346,0.0032006690807208334,-0.0034371537265569393,0.0029408062045980653,0.00015624443898968078,0.0032025096892113972,-0.003446464461505641,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,1.848253486234778e-17,-2.3352504915013625e-17,-8.662977483371784e-08],"qvel":[-0.004479551583811782,0.006270698490467348,0.10744886093684342,-0.11310285533361567,3.0503558442304873e-05,-0.004414542895686142,4.316172478069747e-06,-2.0026070798131004e-06,7.245851291385786e-06,1.8351457714841635e-06,5.054830506582922e-06,4.058643969263612e-07,1.927561146630614e-05,3.252531695308496e-06,4.248200704944491e-17,2.8716456890441636e-17,5.905853434583693e-15,1.913668265243189e-16,-1.264038829420943e-15,-4.182883127685547e-08],"joint_position_rad":[-1.9846387563557195,-1.6136341908681917,1.657853296743471,-1.6145336439965092,-1.5708170066485407,-0.4138385774643109],"joint_velocity_rad_s":[-0.004479551583811782,0.006270698490467348,0.10744886093684342,-0.11310285533361567,3.0503558442304873e-05,-0.004414542895686142],"linkage_position_rad":[0.002940942950847213,0.00015669056420225346,0.0032006690807208334,-0.0034371537265569393,0.0029408062045980653,0.00015624443898968078,0.0032025096892113972,-0.003446464461505641],"tcp_position_m":[0.06764229340985245,0.48722213051391877,0.3144337143099458],"tcp_quaternion_wxyz":[9.709520188300558e-05,0.7071081207911678,0.7071054004702466,-0.00022070232495706966],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,1.848253486234778e-17,-2.3352504915013625e-17,-8.662977483371784e-08],"object_linear_velocity_m_s":[4.248200704944491e-17,2.8716456890441636e-17,5.905853434583693e-15],"object_angular_velocity_rad_s":[1.9136660947113395e-16,-1.2640388610308496e-15,-4.182883127685551e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313476660452254,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855098863819376,-1.6221852410130733,1.6685234588447115,-1.6418613157826871,-1.57080616575541,-0.4147126136190597,0.0],"actuator_force":[0.04956058108882644,-19.610379685949738,-21.6392201722565,-2.3535503597273646,0.002370090721115048,0.004436212194207201,-0.29413431278718716],"issued_joint_targets_rad":[-1.98551216976746,-1.6125844908819449,1.6789505041803285,-1.6370600336197532,-1.570806281748641,-0.41471383191661704],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.540000000000706,"joint_targets_rad":[-1.98551216976746,-1.6125844908819449,1.6789505041803285,-1.6370600336197532,-1.570806281748641,-0.41471383191661704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.560000000000695,"qpos":[-1.9847235934800729,-1.6135129477904,1.6598887289455089,-1.6166824801139448,-1.5708163170918314,-0.4139224657406394,0.002940946932047016,0.00015665267624479653,0.0032006900084737356,-0.0034370687184766455,0.002940823327413737,0.00015624968318335642,0.0032027725531997044,-0.0034463217436899725,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.13665986006036e-17,-2.749248849425916e-17,-8.701551040872763e-08],"qvel":[-0.004049469243643426,0.0057608956409216,0.09693722741569105,-0.10241618313728897,3.409252158213976e-05,-0.003997002698209476,-3.2682703721041954e-06,-1.7964091443898543e-06,-8.413088903462422e-07,8.316694741079488e-06,-2.6116932305712997e-06,3.4769948777799067e-07,1.00144507139062e-05,9.740628457947344e-06,4.4874353602925495e-17,4.588944838579077e-17,5.8808734165296295e-15,1.7898264942193338e-15,-1.1406128820093958e-15,-7.636888281607624e-08],"joint_position_rad":[-1.9847235934800729,-1.6135129477904,1.6598887289455089,-1.6166824801139448,-1.5708163170918314,-0.4139224657406394],"joint_velocity_rad_s":[-0.004049469243643426,0.0057608956409216,0.09693722741569105,-0.10241618313728897,3.409252158213976e-05,-0.003997002698209476],"linkage_position_rad":[0.002940946932047016,0.00015665267624479653,0.0032006900084737356,-0.0034370687184766455,0.002940823327413737,0.00015624968318335642,0.0032027725531997044,-0.0034463217436899725],"tcp_position_m":[0.06768796828100983,0.48722670924257794,0.3135905855742921],"tcp_quaternion_wxyz":[9.817808362472895e-05,0.7071084556192878,0.7071050642994633,-0.00022448790644645695],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.13665986006036e-17,-2.749248849425916e-17,-8.701551040872763e-08],"object_linear_velocity_m_s":[4.4874353602925495e-17,4.588944838579077e-17,5.8808734165296295e-15],"object_angular_velocity_rad_s":[1.789826299916426e-15,-1.1406131902312252e-15,-7.636888281607631e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313473610641053,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985511130025268,-1.6221429408359664,1.6684925444371446,-1.641883779846813,-1.5708051022085923,-0.41471383307618664,0.0],"actuator_force":[0.04471460706736252,-19.564344347501446,-21.567259983004988,-2.3590315527052326,0.0021981894614100383,0.004016602047329343,-0.29405911315502425],"issued_joint_targets_rad":[-1.985513085459363,-1.612550082750079,1.6789260059066187,-1.6370797464791795,-1.570805320501068,-0.4147149384512486],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.560000000000695,"joint_targets_rad":[-1.985513085459363,-1.612550082750079,1.6789260059066187,-1.6370797464791795,-1.570805320501068,-0.4147149384512486],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.580000000000684,"qpos":[-1.9848003042826485,-1.6134019607021477,1.6617254169251017,-1.6186282624927768,-1.570815569140654,-0.4139984198334477,0.0029408207722353883,0.00015661848923229213,0.0032005786033319624,-0.003436869021669001,0.002940709043811522,0.00015625442253857204,0.0032028798547368504,-0.003446069778885343,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.178561980965051e-17,-2.4564588370896947e-17,-8.73051957723061e-08],"qvel":[-0.003660465355062747,0.005270033086737472,0.08747277419509102,-0.0927373049697748,3.672891473552066e-05,-0.0036189653601393225,-8.822507366865927e-06,-1.6125473559064895e-06,-6.8085369282150805e-06,1.296701858198026e-05,-8.23799388209084e-06,2.9893152034729785e-07,2.9914617364191845e-06,1.4371320556612784e-05,2.767383216418776e-17,2.52568507695569e-17,5.798994468463524e-15,-8.027999905586866e-16,1.1001361204632478e-15,-8.273943055553574e-09],"joint_position_rad":[-1.9848003042826485,-1.6134019607021477,1.6617254169251017,-1.6186282624927768,-1.570815569140654,-0.4139984198334477],"joint_velocity_rad_s":[-0.003660465355062747,0.005270033086737472,0.08747277419509102,-0.0927373049697748,3.672891473552066e-05,-0.0036189653601393225],"linkage_position_rad":[0.0029408207722353883,0.00015661848923229213,0.0032005786033319624,-0.003436869021669001,0.002940709043811522,0.00015625442253857204,0.0032028798547368504,-0.003446069778885343],"tcp_position_m":[0.06772939439246498,0.4872312098602091,0.3128297754330316],"tcp_quaternion_wxyz":[9.815591420604989e-05,0.7071087230526475,0.7071047965416309,-0.00022551294616716583],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.178561980965051e-17,-2.4564588370896947e-17,-8.73051957723061e-08],"object_linear_velocity_m_s":[2.767383216418776e-17,2.52568507695569e-17,5.798994468463524e-15],"object_angular_velocity_rad_s":[-8.027997980569843e-16,1.1001362610009586e-15,-8.273943055553581e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313472055764888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855122374031235,-1.6221093080134397,1.6684688402446353,-1.6419037331707753,-1.570804138140968,-0.41471493951463856,0.0],"actuator_force":[0.040319901075235975,-19.522707857278874,-21.50226303896943,-2.3640048420217,0.002042608369379195,0.0036366954185211853,-0.29399118829610077],"issued_joint_targets_rad":[-1.9855139163073228,-1.6125226760997386,1.6789072766208881,-1.637097274040931,-1.5708044503321916,-0.41471594198549566],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.580000000000684,"joint_targets_rad":[-1.9855139163073228,-1.6125226760997386,1.6789072766208881,-1.637097274040931,-1.5708044503321916,-0.41471594198549566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.600000000000673,"qpos":[-1.9848696615166708,-1.6133007467506846,1.663383090228053,-1.6203901416664785,-1.5708147801662822,-0.41406719032370504,0.0029406005521717365,0.00015658764001522785,0.003200371260404161,-0.003436587996024999,0.0029404995568013655,0.00015625871011302567,0.003202870237983243,-0.003445741412538675,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,2.093662215929655e-17,-1.440250139692326e-17,-8.777540687137381e-08],"qvel":[-0.0033086623574225035,0.004803087372358745,0.07894774364215336,-0.08397146134346,3.855629261610608e-05,-0.0032766905238291156,-1.277683107004491e-05,-1.4483858652290011e-06,-1.1102559758008547e-05,1.6180298671636316e-05,-1.225574445218834e-05,2.5790780822785695e-07,-2.2528634447730933e-06,1.7545902389965532e-05,1.8566767001396772e-17,2.7017452240253464e-17,5.855893398475562e-15,-8.302175015783079e-16,7.716290755722235e-16,-1.510613058859341e-08],"joint_position_rad":[-1.9848696615166708,-1.6133007467506846,1.663383090228053,-1.6203901416664785,-1.5708147801662822,-0.41406719032370504],"joint_velocity_rad_s":[-0.0033086623574225035,0.004803087372358745,0.07894774364215336,-0.08397146134346,3.855629261610608e-05,-0.0032766905238291156],"linkage_position_rad":[0.0029406005521717365,0.00015658764001522785,0.003200371260404161,-0.003436587996024999,0.0029404995568013655,0.00015625871011302567,0.003202870237983243,-0.003445741412538675],"tcp_position_m":[0.06776695811929502,0.4872355930499104,0.31214325494876183],"tcp_quaternion_wxyz":[9.722992409923938e-05,0.7071089308374001,0.707104589279272,-0.00022426886110116692],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,2.093662215929655e-17,-1.440250139692326e-17,-8.777540687137381e-08],"object_linear_velocity_m_s":[1.8566767001396772e-17,2.7017452240253464e-17,5.855893398475562e-15],"object_angular_velocity_rad_s":[-8.302173656830516e-16,7.716292219501131e-16,-1.5106130588593426e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313471633716117,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855132246105414,-1.6220826595830684,1.66845086030924,-1.6419214710883798,-1.570803265083279,-0.4147159429646151,0.0],"actuator_force":[0.03633875522791641,-19.485060613711084,-21.443557294487164,-2.368518576604629,0.0019019122399868138,0.003292731927871273,-0.29392984257104393],"issued_joint_targets_rad":[-1.985514669818378,-1.6125009192467468,1.6788931244426075,-1.6371128710242948,-1.5708036632315177,-0.4147168517574609],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.600000000000673,"joint_targets_rad":[-1.985514669818378,-1.6125009192467468,1.6788931244426075,-1.6371128710242948,-1.5708036632315177,-0.4147168517574609],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.620000000000662,"qpos":[-1.9849323656184763,-1.6132087529360435,1.6648794607729036,-1.6219854675614394,-1.5708139648305772,-0.41412945673723583,0.002940314620586848,0.00015655980131757088,0.003200096592693551,-0.0034362517528654076,0.002940223325428002,0.00015626259239067872,0.003202774343207724,-0.0034453622904625013,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,1.8918138739882234e-17,-3.0190275707979536e-17,-8.824531595173953e-08],"qvel":[-0.002990539542892601,0.0043631838483002006,0.0712660878589186,-0.07603277009606128,3.970115452420184e-05,-0.0029667927058524136,-1.5477786222692173e-05,-1.3016397271579426e-06,-1.4083322336860927e-05,1.8273565352700818e-05,-1.501265277884254e-05,2.232840041587166e-07,-6.089676599377832e-06,1.9587004940121473e-05,4.237467745432438e-17,2.128317269251558e-17,5.730993308205232e-15,-5.747131971436761e-16,-5.392437539577148e-16,-2.7579979681691076e-08],"joint_position_rad":[-1.9849323656184763,-1.6132087529360435,1.6648794607729036,-1.6219854675614394,-1.5708139648305772,-0.41412945673723583],"joint_velocity_rad_s":[-0.002990539542892601,0.0043631838483002006,0.0712660878589186,-0.07603277009606128,3.970115452420184e-05,-0.0029667927058524136],"linkage_position_rad":[0.002940314620586848,0.00015655980131757088,0.003200096592693551,-0.0034362517528654076,0.002940223325428002,0.00015626259239067872,0.003202774343207724,-0.0034453622904625013],"tcp_position_m":[0.06780101242715739,0.48723982998237647,0.31152377663703623],"tcp_quaternion_wxyz":[9.557321256668858e-05,0.7071090862747162,0.7071044350400091,-0.00022117921645000026],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,1.8918138739882234e-17,-3.0190275707979536e-17,-8.824531595173953e-08],"object_linear_velocity_m_s":[4.237467745432438e-17,2.128317269251558e-17,5.730993308205232e-15],"object_angular_velocity_rad_s":[-5.747132906498443e-16,-5.392436514826881e-16,-2.7579979681691106e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313472056733749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855141056614292,-1.6220616306811668,1.668437410763147,-1.6419372540297743,-1.5708024750612528,-0.41471685266205444,0.0],"actuator_force":[0.0327357312512504,-19.451029029566598,-21.39053516308104,-2.372616224561284,0.0017747692098737389,0.0029813081759186844,-0.29387444510573485],"issued_joint_targets_rad":[-1.9855153529127338,-1.6124837149677587,1.6788825917660533,-1.637126762061125,-1.570802951721953,-0.41471767625400735],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.620000000000662,"joint_targets_rad":[-1.9855153529127338,-1.6124837149677587,1.6788825917660533,-1.637126762061125,-1.570802951721953,-0.41471767625400735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.64000000000065,"qpos":[-1.9849890512465231,-1.6131253866243944,1.666230439869125,-1.6234299580728135,-1.5708131354199462,-0.41418583428331657,0.0029399851069582318,0.00015653467818730997,0.0031997769524013658,-0.0034358805813439366,0.002939902578750788,0.0001562661103170588,0.0032026163507613207,-0.003444952280480983,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,1.5061899255010854e-18,-1.3539190116399864e-17,-8.863861686555757e-08],"qvel":[-0.0027029020190165198,0.003952038605761032,0.06434208628175297,-0.06884339589287161,4.0274474474269743e-05,-0.0026862074807706823,-1.7203844691106565e-05,-1.1703226822764353e-06,-1.6040193812609196e-05,1.9501151936446577e-05,-1.6788175711475385e-05,1.9396341897174903e-07,-8.81820098686333e-06,2.0753348123069606e-05,7.872041019803483e-18,-6.4674895525081536e-18,5.7254421930821054e-15,-2.3812763780750735e-15,2.648438981903185e-15,-5.035407808647097e-08],"joint_position_rad":[-1.9849890512465231,-1.6131253866243944,1.666230439869125,-1.6234299580728135,-1.5708131354199462,-0.41418583428331657],"joint_velocity_rad_s":[-0.0027029020190165198,0.003952038605761032,0.06434208628175297,-0.06884339589287161,4.0274474474269743e-05,-0.0026862074807706823],"linkage_position_rad":[0.0029399851069582318,0.00015653467818730997,0.0031997769524013658,-0.0034358805813439366,0.002939902578750788,0.0001562661103170588,0.0032026163507613207,-0.003444952280480983],"tcp_position_m":[0.06783187942079177,0.4872439002534556,0.31096479871719984],"tcp_quaternion_wxyz":[9.333422053974295e-05,0.7071091961556043,0.7071043268725453,-0.00021660799248209708],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,1.5061899255010854e-18,-1.3539190116399864e-17,-8.863861686555757e-08],"object_linear_velocity_m_s":[7.872041019803483e-18,-6.4674895525081536e-18,5.7254421930821054e-15],"object_angular_velocity_rad_s":[-2.3812759072035952e-15,2.648439404200921e-15,-5.035407808647102e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313473097116653,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855148927852937,-1.6220451153130226,1.6684275334076326,-1.6419513111011133,-1.5708017606282376,-0.41471767709210094,0.0],"actuator_force":[0.02947773006508214,-19.420272819560978,-21.34264743568565,-2.3763369248626987,0.001659948406768308,0.002699343684895439,-0.29382442418343807],"issued_joint_targets_rad":[-1.985515971953639,-1.612470173238119,1.67887491007599,-1.6371391448924528,-1.5708023088702285,-0.4147184232558233],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.64000000000065,"joint_targets_rad":[-1.985515971953639,-1.612470173238119,1.67887491007599,-1.6371391448924528,-1.5708023088702285,-0.4147184232558233],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.66000000000064,"qpos":[-1.9850402932736253,-1.6130500385370017,1.6674503299960153,-1.624737851916893,-1.5708123021467708,-0.4142368799516619,0.0029396291501637526,0.00015651200476708582,0.0031994296667983407,-0.003435490106193193,0.0029395545455674285,0.000156269300119442,0.003202415237244039,-0.0034445266259511853,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-1.8589612967916367e-17,2.0089752923353784e-18,-8.897518278937304e-08],"qvel":[-0.0024428519991323565,0.0035703083671870866,0.05809914521377908,-0.06233279851995887,4.037319091292623e-05,-0.002432160913297973,-1.817820756201859e-05,-1.0527022864120044e-06,-1.720524347855846e-05,2.006651475654792e-05,-1.7806351895757764e-05,1.6904909444357818e-07,-1.067920682173619e-05,2.125179597393082e-05,-6.37660517228702e-18,-9.847535377859025e-17,5.683808829658661e-15,-7.207922029297026e-15,1.7092964133942656e-15,-9.193383059747821e-08],"joint_position_rad":[-1.9850402932736253,-1.6130500385370017,1.6674503299960153,-1.624737851916893,-1.5708123021467708,-0.4142368799516619],"joint_velocity_rad_s":[-0.0024428519991323565,0.0035703083671870866,0.05809914521377908,-0.06233279851995887,4.037319091292623e-05,-0.002432160913297973],"linkage_position_rad":[0.0029396291501637526,0.00015651200476708582,0.0031994296667983407,-0.003435490106193193,0.0029395545455674285,0.000156269300119442,0.003202415237244039,-0.0034445266259511853],"tcp_position_m":[0.06785985276836552,0.4872477901979889,0.31046041665012336],"tcp_quaternion_wxyz":[9.063981115921934e-05,0.7071092667267826,0.7071042583867468,-0.00021086693592270537],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-1.8589612967916367e-17,2.0089752923353784e-18,-8.897518278937304e-08],"object_linear_velocity_m_s":[-6.37660517228702e-18,-9.847535377859025e-17,5.683808829658661e-15],"object_angular_velocity_rad_s":[-7.207921725496385e-15,1.7092976926285723e-15,-9.193383059747833e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313474575593844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985515596677291,-1.622032218049721,1.6684204601687327,-1.6419638435482893,-1.5708011148763161,-0.41471842403407955,0.0],"actuator_force":[0.026533992321219557,-19.39248237231368,-21.29939774007653,-2.379715963702324,0.0015563161360887534,0.0024440501209994636,-0.2937792619892701],"issued_joint_targets_rad":[-1.9855165327791,-1.6124595726763258,1.6788694634479677,-1.6371501934004264,-1.570801728281872,-0.4147190998830736],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.66000000000064,"joint_targets_rad":[-1.9855165327791,-1.6124595726763258,1.6788694634479677,-1.6371501934004264,-1.570801728281872,-0.4147190998830736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.680000000000629,"qpos":[-1.985086612269183,-1.6129820998014692,1.6685519946024585,-1.6259220472355882,-1.5708114734199472,-0.4142830980293648,0.0029392598952892044,0.0001564915413888784,0.0031990680409020016,-0.003435092226324108,0.0029391924521775135,0.0001562721939716595,0.0032021857962463113,-0.0034440968805265182,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-3.645481851296384e-17,6.848054124600902e-18,-8.932390970745472e-08],"qvel":[-0.002207762336991046,0.0032178664020426555,0.05246875233276811,-0.05643705192645363,4.00816277878926e-05,-0.0022021419233077197,-1.8579251353174276e-05,-9.472623980491007e-07,-1.7764072392192455e-05,2.013187383752883e-05,-1.8246272872205562e-05,1.4780587099893886e-07,-1.1866006456513283e-05,2.1247193430509682e-05,-6.667527204833847e-18,-4.1201576450789323e-17,5.628297678427403e-15,7.384297365570551e-16,-1.2768251476579482e-16,-9.960277683704989e-09],"joint_position_rad":[-1.985086612269183,-1.6129820998014692,1.6685519946024585,-1.6259220472355882,-1.5708114734199472,-0.4142830980293648],"joint_velocity_rad_s":[-0.002207762336991046,0.0032178664020426555,0.05246875233276811,-0.05643705192645363,4.00816277878926e-05,-0.0022021419233077197],"linkage_position_rad":[0.0029392598952892044,0.0001564915413888784,0.0031990680409020016,-0.003435092226324108,0.0029391924521775135,0.0001562721939716595,0.0032021857962463113,-0.0034440968805265182],"tcp_position_m":[0.06788519999125968,0.4872514915121454,0.3100053012717189],"tcp_quaternion_wxyz":[8.759799823051044e-05,0.7071093036796451,0.7071042237673429,-0.0002042220863140829],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-3.645481851296384e-17,6.848054124600902e-18,-8.932390970745472e-08],"object_linear_velocity_m_s":[-6.667527204833847e-18,-4.1201576450789323e-17,5.628297678427403e-15],"object_angular_velocity_rad_s":[7.384297136104243e-16,-1.276826474108554e-16,-9.960277683705002e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313476351870208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855162267096877,-1.6220222146486094,1.6684155763142376,-1.6419750279995304,-1.5708005314319002,-0.41471910060707323,0.0],"actuator_force":[0.02387605378680746,-19.367376255097042,-21.260337509549117,-2.382785189325773,0.0014628312446802738,0.0022129034765328015,-0.293738489752209],"issued_joint_targets_rad":[-1.9855170407345797,-1.612451329100266,1.6788657590524185,-1.6371600604107681,-1.5708012040853603,-0.41471971264082624],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.680000000000629,"joint_targets_rad":[-1.9855170407345797,-1.612451329100266,1.6788657590524185,-1.6371600604107681,-1.5708012040853603,-0.41471971264082624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.700000000000617,"qpos":[-1.9851284795077069,-1.6129209743391635,1.669547008713865,-1.626994227283018,-1.5708106560864865,-0.41432494509337275,0.0029388873013719407,0.00015647307196544214,0.0031987021700029435,-0.0034346958747918824,0.0029388263309820754,0.00015627482054202203,0.0032019394669736867,-0.003443671664681245,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-3.881737329485635e-17,-1.3240280762539356e-17,-8.977018036017848e-08],"qvel":[-0.0019952521905364676,0.0028940190572376,0.04738956365744212,-0.05109822700345126,3.9472830402936244e-05,-0.0019938772988132873,-1.8549046587332446e-05,-8.526718253654981e-07,-1.786464171088158e-05,1.982607690067997e-05,-1.825062189770526e-05,1.296299256969706e-07,-1.2533418281793979e-05,2.087038426342069e-05,1.8073577888495618e-17,-4.8844387527214075e-17,5.6976866174664725e-15,1.1915895730227083e-15,-2.279770422197071e-16,-1.8184951767067605e-08],"joint_position_rad":[-1.9851284795077069,-1.6129209743391635,1.669547008713865,-1.626994227283018,-1.5708106560864865,-0.41432494509337275],"joint_velocity_rad_s":[-0.0019952521905364676,0.0028940190572376,0.04738956365744212,-0.05109822700345126,3.9472830402936244e-05,-0.0019938772988132873],"linkage_position_rad":[0.0029388873013719407,0.00015647307196544214,0.0031987021700029435,-0.0034346958747918824,0.0029388263309820754,0.00015627482054202203,0.0032019394669736867,-0.003443671664681245],"tcp_position_m":[0.06790816461408229,0.4872550001288004,0.30959464289478883],"tcp_quaternion_wxyz":[8.430035942423583e-05,0.7071093121560806,0.7071042177686157,-0.0001968995608305037],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-3.881737329485635e-17,-1.3240280762539356e-17,-8.977018036017848e-08],"object_linear_velocity_m_s":[1.8073577888495618e-17,-4.8844387527214075e-17,5.6976866174664725e-15],"object_angular_velocity_rad_s":[1.1915895325731578e-15,-2.279772575699097e-16,-1.818495176706763e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313478316947875,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855167911112945,-1.6220145199600167,1.6684123907359754,-1.6419850194338645,-1.5708000044404402,-0.414719713315291,0.0],"actuator_force":[0.02147766903954107,-19.34469886460147,-21.225061418756468,-2.3855733750781383,0.0013785399828520895,0.002003618922202577,-0.2937016832752756],"issued_joint_targets_rad":[-1.9855175007059338,-1.6124449698913512,1.6788634033124696,-1.6371688802370403,-1.5708007309089895,-0.4147202674636052],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.700000000000617,"joint_targets_rad":[-1.9855175007059338,-1.6124449698913512,1.6788634033124696,-1.6371688802370403,-1.5708007309089895,-0.4147202674636052],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.720000000000606,"qpos":[-1.9851663215388813,-1.6128660876098324,1.6704457927356613,-1.6279649743957694,-1.5708098556463148,-0.4143628345286945,0.002938518795058868,0.00015645640164702425,0.003198339597224764,-0.00343430763323822,0.0029384636749095767,0.00015627720544961703,0.003201685006196211,-0.003443257277037376,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-5.389679251165029e-17,-1.9558714132319374e-17,-9.021040223734738e-08],"qvel":[-0.0018031646902637634,0.0025976747119107256,0.04280660411239587,-0.04626383191663382,3.8609806659517214e-05,-0.0018053091000923259,-1.8200300061723426e-05,-7.677585270132903e-07,-1.762446661685956e-05,1.9251005252878765e-05,-1.7932632754399895e-05,1.1402431567924839e-07,-1.2805070754000391e-05,2.0224747914800416e-05,2.577453281851247e-17,-7.559142529239854e-17,5.593603208907865e-15,-7.339342769939774e-16,-1.2739252350932137e-16,-3.320112965440581e-08],"joint_position_rad":[-1.9851663215388813,-1.6128660876098324,1.6704457927356613,-1.6279649743957694,-1.5708098556463148,-0.4143628345286945],"joint_velocity_rad_s":[-0.0018031646902637634,0.0025976747119107256,0.04280660411239587,-0.04626383191663382,3.8609806659517214e-05,-0.0018053091000923259],"linkage_position_rad":[0.002938518795058868,0.00015645640164702425,0.003198339597224764,-0.00343430763323822,0.0029384636749095767,0.00015627720544961703,0.003201685006196211,-0.003443257277037376],"tcp_position_m":[0.06792896817357952,0.48725831530054536,0.30922410081012963],"tcp_quaternion_wxyz":[8.082416768513982e-05,0.7071092967662742,0.7071042356957533,-0.00018909067396421237],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-5.389679251165029e-17,-1.9558714132319374e-17,-9.021040223734738e-08],"object_linear_velocity_m_s":[2.577453281851247e-17,-7.559142529239854e-17,5.593603208907865e-15],"object_angular_velocity_rad_s":[-7.339342986794856e-16,-1.273923946711757e-16,-3.320112965440586e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313480386896027,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855172971201789,-1.6220086617818394,1.6684105119350143,-1.641993953856065,-1.5707995285437968,-0.4147202680925742,0.0],"actuator_force":[0.019314713510084403,-19.324218228778136,-21.19320324625278,-2.388106538484408,0.0013025705929976539,0.0018141280693555473,-0.2936684588343416],"issued_joint_targets_rad":[-1.9855179171520065,-1.6124401131006265,1.6788620826291643,-1.637176770960928,-1.5708003038531422,-0.41472076975854066],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.720000000000606,"joint_targets_rad":[-1.9855179171520065,-1.6124401131006265,1.6788620826291643,-1.637176770960928,-1.5708003038531422,-0.41472076975854066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.740000000000595,"qpos":[-1.9852005243529482,-1.612816892529772,1.671257731509007,-1.6288438733342514,-1.5708090764424616,-0.41439714061766497,0.0029381597987661527,0.00015644135471535507,0.0031979858448813172,-0.0034339322278535496,0.002938109966265674,0.00015627937164626216,0.0032014290324832795,-0.003442858187516708,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-6.082333567759228e-17,-1.95074838313072e-17,-9.062180210543359e-08],"qvel":[-0.0016295464843178319,0.0023274747091865276,0.03867056583784505,-0.04188630449945529,3.7546669501398124e-05,-0.0016345742233164974,-1.7622008496279833e-05,-6.914878859589011e-07,-1.7136472370196513e-05,1.848679156369674e-05,-1.738175696978903e-05,1.0057916722382859e-07,-1.2779352304521945e-05,1.9391517703564833e-05,3.2043356380015357e-17,-1.078220700931214e-16,5.538092057676606e-15,-1.6534026636476346e-15,-3.9668763156649827e-16,-6.06168784194908e-08],"joint_position_rad":[-1.9852005243529482,-1.612816892529772,1.671257731509007,-1.6288438733342514,-1.5708090764424616,-0.41439714061766497],"joint_velocity_rad_s":[-0.0016295464843178319,0.0023274747091865276,0.03867056583784505,-0.04188630449945529,3.7546669501398124e-05,-0.0016345742233164974],"linkage_position_rad":[0.0029381597987661527,0.00015644135471535507,0.0031979858448813172,-0.0034339322278535496,0.002938109966265674,0.00015627937164626216,0.0032014290324832795,-0.003442858187516708],"tcp_position_m":[0.0679478120879744,0.4872614388531153,0.3088897576709191],"tcp_quaternion_wxyz":[7.723427116379204e-05,0.7071092616146989,0.7071042733772298,-0.00018095646175570937],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-6.082333567759228e-17,-1.95074838313072e-17,-9.062180210543359e-08],"object_linear_velocity_m_s":[3.2043356380015357e-17,-1.078220700931214e-16,5.538092057676606e-15],"object_angular_velocity_rad_s":[-1.653402733179741e-15,-3.966873392716761e-16,-6.06168784194909e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313482497801655,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855177511140218,-1.6220042595681303,1.668409628613575,-1.642001950679665,-1.5707990988529579,-0.4147207703455088,0.0],"actuator_force":[0.017365071579661162,-19.305723960391333,-21.16443212600143,-2.390408222761266,0.00123412780169474,0.0016425584097135015,-0.29363846942426103],"issued_joint_targets_rad":[-1.9855182941364184,-1.6124364504255915,1.6788615477988693,-1.6371838364567641,-1.5707999184599664,-0.4147212244467585],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.740000000000595,"joint_targets_rad":[-1.9855182941364184,-1.6124364504255915,1.6788615477988693,-1.6371838364567641,-1.5707999184599664,-0.4147212244467585],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.760000000000584,"qpos":[-1.9852314371735524,-1.6127728732145434,1.6719912803929746,-1.6296396049804505,-1.5708083218288222,-0.4144282022412196,0.002937814156698337,0.000156427772689543,0.0031976448431265815,-0.003433572928960445,0.0029377691033732885,0.0001562813397397183,0.0032011764664028036,-0.0034424774343809294,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-4.9318620315326367e-17,-1.718070723533536e-17,-9.090378824918594e-08],"qvel":[-0.001472629032244018,0.0020818939828367677,0.03493719086956837,-0.03792255179792475,3.6329680091312954e-05,-0.0014799859150231563,-1.6884059168223187e-05,-6.229445856083922e-07,-1.647375945014992e-05,1.759606177443092e-05,-1.666827562929927e-05,8.895561746883393e-08,-1.2534254544895653e-05,1.8434108913148164e-05,2.5900286818269903e-17,-6.84707967256963e-17,5.5533576242652025e-15,1.2303427165623429e-15,-1.8863742740909533e-16,-1.1067111232570294e-07],"joint_position_rad":[-1.9852314371735524,-1.6127728732145434,1.6719912803929746,-1.6296396049804505,-1.5708083218288222,-0.4144282022412196],"joint_velocity_rad_s":[-0.001472629032244018,0.0020818939828367677,0.03493719086956837,-0.03792255179792475,3.6329680091312954e-05,-0.0014799859150231563],"linkage_position_rad":[0.002937814156698337,0.000156427772689543,0.0031976448431265815,-0.003433572928960445,0.0029377691033732885,0.0001562813397397183,0.0032011764664028036,-0.0034424774343809294],"tcp_position_m":[0.0679648793903475,0.48726437457871985,0.30858807829280127],"tcp_quaternion_wxyz":[7.358474905322391e-05,0.7071092103313814,0.7071043271315198,-0.000172631673877364],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-4.9318620315326367e-17,-1.718070723533536e-17,-9.090378824918594e-08],"object_linear_velocity_m_s":[2.5900286818269903e-17,-6.84707967256963e-17,5.5533576242652025e-15],"object_angular_velocity_rad_s":[1.230342686069426e-15,-1.8863766201101357e-16,-1.1067111232570312e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484601682495,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855181587216932,-1.6220010070978308,1.668409493990442,-1.6420091148321012,-1.5707987109181212,-0.41472122499478564,0.0],"actuator_force":[0.015608516615884582,-19.28902535970974,-21.138449152892917,-2.392499746032854,0.0011724873413641035,0.0014872147193329965,-0.2936114013295937],"issued_joint_targets_rad":[-1.985518635358197,-1.6124337333457266,1.6788616014168265,-1.6371901681765275,-1.5707995706819324,-0.414721636002707],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.760000000000584,"joint_targets_rad":[-1.985518635358197,-1.6124337333457266,1.6788616014168265,-1.6371901681765275,-1.5707995706819324,-0.414721636002707],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.780000000000573,"qpos":[-1.9852593759083765,-1.612733547063772,1.6726540599091606,-1.6303600312856608,-1.5708075943176147,-0.4144563262291716,0.002937484477804476,0.00015641551262288002,0.003197319275078664,-0.003433231872259156,0.002937443744087915,0.00015628312826846592,0.00320093088601374,-0.003442116943181765,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-3.197687322472105e-17,-1.3723455550001598e-17,-9.132359014008063e-08],"qvel":[-0.001330811521599506,0.001859317605939107,0.031566726866307626,-0.0343335323595639,3.4998194020895134e-05,-0.0013400170490382632,-1.6040970242589476e-05,-5.613170730175436e-07,-1.5693476740789096e-05,1.6627386064608927e-05,-1.584704895719905e-05,7.887292763114715e-08,-1.2131312723396737e-05,1.740163476059606e-05,1.625324136872295e-17,-4.058675172532095e-17,5.463152003514408e-15,1.7011278852790902e-15,5.8667558381932175e-16,-1.1990308716220685e-08],"joint_position_rad":[-1.9852593759083765,-1.612733547063772,1.6726540599091606,-1.6303600312856608,-1.5708075943176147,-0.4144563262291716],"joint_velocity_rad_s":[-0.001330811521599506,0.001859317605939107,0.031566726866307626,-0.0343335323595639,3.4998194020895134e-05,-0.0013400170490382632],"linkage_position_rad":[0.002937484477804476,0.00015641551262288002,0.003197319275078664,-0.003433231872259156,0.002937443744087915,0.00015628312826846592,0.00320093088601374,-0.003442116943181765],"tcp_position_m":[0.0679803363311419,0.48726712774422165,0.3083158724460312],"tcp_quaternion_wxyz":[6.992036802246275e-05,0.7071091461062184,0.7071043937306176,-0.00016422829094101852],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-3.197687322472105e-17,-1.3723455550001598e-17,-9.132359014008063e-08],"object_linear_velocity_m_s":[1.625324136872295e-17,-4.058675172532095e-17,5.463152003514408e-15],"object_angular_velocity_rad_s":[1.7011279927628028e-15,5.866752723462762e-16,-1.1990308716220707e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486663183604,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855185249189962,-1.6219986583734032,1.6684099131273908,-1.6420155386028497,-1.5707983606976097,-0.4147216365145032,0.0],"actuator_force":[0.014026587400621793,-19.2739496616382,-21.114984310062482,-2.3944004226380002,0.0011169906003942742,0.0013465622380124387,-0.29358697099862063],"issued_joint_targets_rad":[-1.985518944181011,-1.6124317618349462,1.6788620876967044,-1.6371958467156331,-1.5707992568503417,-0.4147220084912705],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.780000000000573,"joint_targets_rad":[-1.985518944181011,-1.6124317618349462,1.6788620876967044,-1.6371958467156331,-1.5707992568503417,-0.4147220084912705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.800000000000562,"qpos":[-1.9852846262860262,-1.612698465597993,1.6732529402823315,-1.6310122722790428,-1.5708068957085506,-0.4144817903929242,0.002937172411246131,0.0001564044455693971,0.0031970108540873214,-0.0034329103164567982,0.00293713558176972,0.00015628475393713725,0.003200694813450019,-0.003441777782320896,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-2.9410367400098016e-17,-1.0859305194020784e-17,-9.179988568627106e-08],"qvel":[-0.0012026452857132777,0.0016580982782877962,0.028523446265986133,-0.03108387729554508,3.358551459413539e-05,-0.0012132849962246109,-1.513492893208065e-05,-5.058845964283227e-07,-1.4839967639828822e-05,1.561807647583017e-05,-1.4960562155979098e-05,7.009788283932378e-08,-1.1618809029073253e-05,1.63317600564464e-05,1.1034464599591679e-17,-3.5153976461114814e-17,5.427069755214088e-15,8.775904580514008e-16,3.557530614887657e-16,-2.189127578575754e-08],"joint_position_rad":[-1.9852846262860262,-1.612698465597993,1.6732529402823315,-1.6310122722790428,-1.5708068957085506,-0.4144817903929242],"joint_velocity_rad_s":[-0.0012026452857132777,0.0016580982782877962,0.028523446265986133,-0.03108387729554508,3.358551459413539e-05,-0.0012132849962246109],"linkage_position_rad":[0.002937172411246131,0.0001564044455693971,0.0031970108540873214,-0.0034329103164567982,0.00293713558176972,0.00015628475393713725,0.003200694813450019,-0.003441777782320896],"tcp_position_m":[0.06799433385584988,0.48726970469359016,0.30807026125603104],"tcp_quaternion_wxyz":[6.627786145276526e-05,0.7071090717246686,0.7071044703622278,-0.00015583861888396368],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-2.9410367400098016e-17,-1.0859305194020784e-17,-9.179988568627106e-08],"object_linear_velocity_m_s":[1.1034464599591679e-17,-3.5153976461114814e-17,5.427069755214088e-15],"object_angular_velocity_rad_s":[8.775905238430163e-16,3.557528990756919e-16,-2.189127578575758e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488656911757,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855188541110345,-1.6219970161528807,1.6684107326913074,-1.6420213032585405,-1.5707980445267018,-0.41472200896926303,0.0],"actuator_force":[0.012602464268638869,-19.260340421090405,-21.09379368844293,-2.3961277601944175,0.001067039465056041,0.0012192114530478193,-0.29356492219535224],"issued_joint_targets_rad":[-1.98551922366083,-1.6124303751757791,1.6788628842454056,-1.6372009431813381,-1.5707989736445394,-0.41472234560257],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.800000000000562,"joint_targets_rad":[-1.98551922366083,-1.6124303751757791,1.6788628842454056,-1.6372009431813381,-1.5707989736445394,-0.41472234560257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.820000000000551,"qpos":[-1.9853074467057386,-1.6126672143709868,1.6737941170382291,-1.6316027758730867,-1.5708062272016197,-0.41450484627083845,0.0029368788670885095,0.00015639445520439506,0.003196720545917919,-0.00343260884931201,0.002936845566429274,0.00015628623181962974,0.0032004699454904867,-0.0034414603672034377,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-1.7677580364303318e-17,-8.471872850612701e-18,-9.22088970372407e-08],"qvel":[-0.001086819605912696,0.0014765987870630278,0.025775220672861233,-0.028141546528428256,3.211965845366453e-05,-0.0010985379338967077,-1.4198256378857353e-05,-4.5600586554157407e-07,-1.3947322311187868e-05,1.4596458920660073e-05,-1.4041396695849297e-05,6.243628816214695e-08,-1.103437454801925e-05,1.5253015572792277e-05,9.277690924304928e-18,-2.109894771768392e-17,5.432620870337217e-15,1.184669966054989e-15,2.9622166446431923e-16,-3.9967941349148564e-08],"joint_position_rad":[-1.9853074467057386,-1.6126672143709868,1.6737941170382291,-1.6316027758730867,-1.5708062272016197,-0.41450484627083845],"joint_velocity_rad_s":[-0.001086819605912696,0.0014765987870630278,0.025775220672861233,-0.028141546528428256,3.211965845366453e-05,-0.0010985379338967077],"linkage_position_rad":[0.0029368788670885095,0.00015639445520439506,0.003196720545917919,-0.00343260884931201,0.002936845566429274,0.00015628623181962974,0.0032004699454904867,-0.0034414603672034377],"tcp_position_m":[0.06800700896456936,0.48727211252772334,0.30784864686501257],"tcp_quaternion_wxyz":[6.268705141574078e-05,0.7071089896035836,0.7071045545919419,-0.00014753800717544325],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-1.7677580364303318e-17,-8.471872850612701e-18,-9.22088970372407e-08],"object_linear_velocity_m_s":[9.277690924304928e-18,-2.109894771768392e-17,5.432620870337217e-15],"object_angular_velocity_rad_s":[1.1846700213607235e-15,2.9622144457701983e-16,-3.996794134914864e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490565288352,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855191502032288,-1.6219959226283083,1.6684118326870776,-1.6420264804497866,-1.570797759087127,-0.414722346048955,0.0],"actuator_force":[0.011320847384922672,-19.248056029468444,-21.074656971447894,-2.397697635507143,0.001022091401068792,0.0011039043313871844,-0.2935450234105157],"issued_joint_targets_rad":[-1.98551947657193,-1.6124294444871698,1.6788638954204704,-1.6372055203855274,-1.5707987180623417,-0.41472265068441194],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.820000000000551,"joint_targets_rad":[-1.98551947657193,-1.6124294444871698,1.6788638954204704,-1.6372055203855274,-1.5707987180623417,-0.41472265068441194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.84000000000054,"qpos":[-1.9853280708246237,-1.6126394122115526,1.674283178672211,-1.6321373811343198,-1.5708055894952548,-0.4145257216135738,0.002936604192581564,0.0001563854365816846,0.0031964487462793523,-0.0034323275518679335,0.0029365740814189193,0.00015628757553522095,0.003200257338633392,-0.0034411646227879194,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,-4.062693935277297e-18,-5.618973595063157e-18,-9.257747192608301e-08],"qvel":[-0.0009821487876091185,0.0013132226793723472,0.02329314346536042,-0.025477516977989802,3.0624039515852427e-05,-0.000994642456730769,-1.3255405131704511e-05,-4.1110953310951033e-07,-1.3041446683843955e-05,1.3583710009512377e-05,-1.3114233145812898e-05,5.5726001043122165e-08,-1.0407101424997445e-05,1.4186670190805236e-05,5.985850351677182e-18,8.09481836266877e-18,5.422906418871749e-15,2.2405611214691296e-15,3.046068417768082e-16,-7.297136774131644e-08],"joint_position_rad":[-1.9853280708246237,-1.6126394122115526,1.674283178672211,-1.6321373811343198,-1.5708055894952548,-0.4145257216135738],"joint_velocity_rad_s":[-0.0009821487876091185,0.0013132226793723472,0.02329314346536042,-0.025477516977989802,3.0624039515852427e-05,-0.000994642456730769],"linkage_position_rad":[0.002936604192581564,0.0001563854365816846,0.0031964487462793523,-0.0034323275518679335,0.0029365740814189193,0.00015628757553522095,0.003200257338633392,-0.0034411646227879194],"tcp_position_m":[0.06801848596044911,0.48727435884772835,0.30764868504030274],"tcp_quaternion_wxyz":[5.917183127195762e-05,0.7071089018262825,0.7071046443263694,-0.00013938723290940174],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,-4.062693935277297e-18,-5.618973595063157e-18,-9.257747192608301e-08],"object_linear_velocity_m_s":[5.985850351677182e-18,8.09481836266877e-18,5.422906418871749e-15],"object_angular_velocity_rad_s":[2.2405611786886064e-15,3.046064263329142e-16,-7.297136774131658e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313492376823797,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855194166626968,-1.6219952518529597,1.6684131197852456,-1.6420311334338025,-1.570797501377745,-0.4147226511011952,0.0],"actuator_force":[0.010167838897359616,-19.236968354563032,-21.057375160075026,-2.3991244519423844,0.000981654803354104,0.000999501862395391,-0.2935270655086366],"issued_joint_targets_rad":[-1.9855197054311837,-1.612428866649051,1.6788650469685718,-1.6372096338826094,-1.5707984873920127,-0.4147229267724178],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.84000000000054,"joint_targets_rad":[-1.9855197054311837,-1.612428866649051,1.6788650469685718,-1.6372096338826094,-1.5707984873920127,-0.4147229267724178],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.860000000000529,"qpos":[-1.9853467099053315,-1.6126147099929982,1.6747251672759058,-1.6326213756261552,-1.5708049828714992,-0.4145446226341022,0.0029363483124831076,0.0001563772950148473,0.0031961954221882763,-0.003432066128890153,0.002936321084126216,0.000156288797402003,0.003200057557262752,-0.0034408901124692946,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,4.195544443387637e-18,-1.2941646949166615e-18,-9.285426970569528e-08],"qvel":[-0.0008875604057494051,0.001166435740558474,0.021051194611341348,-0.02306549974121909,2.9118077486499762e-05,-0.0009005723645645202,-1.2324575565494553e-05,-3.706858715510373e-07,-1.2141736230270838e-05,1.2595343451044513e-05,-1.21974720995937e-05,4.9831278262396044e-08,-9.75925450068169e-06,1.3148244999871148e-05,2.9967874066446852e-18,2.309975626881693e-18,5.31743523153236e-15,2.4334293919520035e-16,4.459500982011277e-16,-7.905850120023209e-09],"joint_position_rad":[-1.9853467099053315,-1.6126147099929982,1.6747251672759058,-1.6326213756261552,-1.5708049828714992,-0.4145446226341022],"joint_velocity_rad_s":[-0.0008875604057494051,0.001166435740558474,0.021051194611341348,-0.02306549974121909,2.9118077486499762e-05,-0.0009005723645645202],"linkage_position_rad":[0.0029363483124831076,0.0001563772950148473,0.0031961954221882763,-0.003432066128890153,0.002936321084126216,0.000156288797402003,0.003200057557262752,-0.0034408901124692946],"tcp_position_m":[0.06802887759416223,0.48727645155021815,0.3074682604449159],"tcp_quaternion_wxyz":[5.5751024883265806e-05,0.7071088101762446,0.7071047377778681,-0.00013143458855734746],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,4.195544443387637e-18,-1.2941646949166615e-18,-9.285426970569528e-08],"object_linear_velocity_m_s":[2.9967874066446852e-18,2.309975626881693e-18,5.31743523153236e-15],"object_angular_velocity_rad_s":[2.4334302203240095e-16,4.459500530765977e-16,-7.905850120023225e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313494084733982,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855196565714048,-1.6219949035928771,1.6684145219402489,-1.6420353181353724,-1.5707972686867435,-0.4147229271614459,0.0],"actuator_force":[0.009130830153026182,-19.226961495981413,-21.04176851584998,-2.4004212804866256,0.0009452846290969319,0.0009049727846388578,-0.29351085959214074],"issued_joint_targets_rad":[-1.9855199125206533,-1.6124285593650676,1.6788662817009776,-1.63721333287169,-1.570798279185981,-0.4147231766178775],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.860000000000529,"joint_targets_rad":[-1.9855199125206533,-1.6124285593650676,1.6788662817009776,-1.63721333287169,-1.570798279185981,-0.4147231766178775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.880000000000518,"qpos":[-1.9853635549452862,-1.6125927890841159,1.6751246329002405,-1.6330595473749958,-1.5708044072696559,-0.41456173604473573,0.002936110840309566,0.0001563699450693096,0.0031959602240981765,-0.0034318240119724907,0.0029360862175591414,0.00015628990857168937,0.0031998707919067377,-0.0034406361398037575,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999967,1.4989343918163906e-17,2.142985002429424e-17,-9.335963255112232e-08],"qvel":[-0.0008020846220081734,0.0010347803508072347,0.01902594251630316,-0.0208816835948539,2.7617737312897074e-05,-0.0008153985144657312,-1.1419021870051724e-05,-3.3427954674551927e-07,-1.1262429313637266e-05,1.1642410076042621e-05,-1.1304543962050132e-05,4.463813801538793e-08,-9.107657798492752e-06,1.2148734868629063e-05,-2.3989779332472292e-17,1.7589157652627308e-17,5.367395267640493e-15,-2.0316604731216939e-16,-1.4328321045305223e-16,-1.4434085843357987e-08],"joint_position_rad":[-1.9853635549452862,-1.6125927890841159,1.6751246329002405,-1.6330595473749958,-1.5708044072696559,-0.41456173604473573],"joint_velocity_rad_s":[-0.0008020846220081734,0.0010347803508072347,0.01902594251630316,-0.0208816835948539,2.7617737312897074e-05,-0.0008153985144657312],"linkage_position_rad":[0.002936110840309566,0.0001563699450693096,0.0031959602240981765,-0.0034318240119724907,0.0029360862175591414,0.00015628990857168937,0.0031998707919067377,-0.0034406361398037575],"tcp_position_m":[0.06803828611150757,0.48727839866521444,0.30730546431307426],"tcp_quaternion_wxyz":[5.2439136727221176e-05,0.7071087161689913,0.7071048334312997,-0.0001237177072270709],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999967,1.4989343918163906e-17,2.142985002429424e-17,-9.335963255112232e-08],"object_linear_velocity_m_s":[-2.3989779332472292e-17,1.7589157652627308e-17,5.367395267640493e-15],"object_angular_velocity_rad_s":[-2.0316607468454256e-16,-1.4328317208531996e-16,-1.4434085843358015e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313495685833982,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855198726723058,-1.621994798338013,1.668415984052958,-1.6420390840667933,-1.5707970585655482,-0.41472317698086225,0.0],"actuator_force":[0.008198394763894612,-19.21793064811709,-21.027674701085743,-2.4015999864133164,0.0009125783225272244,0.0008193833832876862,-0.29349623506427486],"issued_joint_targets_rad":[-1.9855200999084968,-1.6124284571523848,1.6788675560082917,-1.6372166609804195,-1.570798091236392,-0.41472340271342906],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.880000000000518,"joint_targets_rad":[-1.9855200999084968,-1.6124284571523848,1.6788675560082917,-1.6372166609804195,-1.570798091236392,-0.41472340271342906],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.900000000000507,"qpos":[-1.9853787786069779,-1.6125733595999259,1.675485682339291,-1.6334562319600325,-1.5708038623497769,-0.4145772309013736,0.0029358911661198283,0.000156363309654205,0.0031957425744210985,-0.003431600440634264,0.0029358688984319997,0.0001562909191479887,0.0031996969532872544,-0.0034404018283456374,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,4.078471038940325e-17,4.711256698760554e-17,-9.380863621654092e-08],"qvel":[-0.0007248444823223793,0.0009168843716043586,0.01719627843862142,-0.01890450239459965,2.6136005887424078e-05,-0.0007382796355308489,-1.0548105433924562e-05,-3.01483444676264e-07,-1.0413698817000835e-05,1.0732463130192188e-05,-1.0444965544337406e-05,4.005056769626277e-08,-8.464815639477632e-06,1.1195591392748175e-05,-6.071138388905648e-17,5.336643537858823e-17,5.8045455835866484e-15,8.109761749096782e-16,5.773758506702123e-16,-2.6352995689325232e-08],"joint_position_rad":[-1.9853787786069779,-1.6125733595999259,1.675485682339291,-1.6334562319600325,-1.5708038623497769,-0.4145772309013736],"joint_velocity_rad_s":[-0.0007248444823223793,0.0009168843716043586,0.01719627843862142,-0.01890450239459965,2.6136005887424078e-05,-0.0007382796355308489],"linkage_position_rad":[0.0029358911661198283,0.000156363309654205,0.0031957425744210985,-0.003431600440634264,0.0029358688984319997,0.0001562909191479887,0.0031996969532872544,-0.0034404018283456374],"tcp_position_m":[0.06804680421110003,0.4872802082288945,0.3071585742979659],"tcp_quaternion_wxyz":[4.924700567831837e-05,0.707108621081909,0.7071049300130688,-0.00011626515573652461],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,4.078471038940325e-17,4.711256698760554e-17,-9.380863621654092e-08],"object_linear_velocity_m_s":[-6.071138388905648e-17,5.336643537858823e-17,5.8045455835866484e-15],"object_angular_velocity_rad_s":[8.109762807522318e-16,5.77375700666663e-16,-2.635299568932523e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349717965662,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855200674094557,-1.6219948732570553,1.6684174644781253,-1.6420424751253344,-1.5707968688045455,-0.41472340305196637,0.0],"actuator_force":[0.007360187973063148,-19.209781062900674,-21.01494709777944,-2.4026713431910593,0.0008831720269881771,0.0007418882566696539,-0.2934830378727001],"issued_joint_targets_rad":[-1.9855202694682592,-1.6124285080864376,1.6788688370543465,-1.6372196569460282,-1.5707979215525225,-0.41472360731663616],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.900000000000507,"joint_targets_rad":[-1.9855202694682592,-1.6124285080864376,1.6788688370543465,-1.6372196569460282,-1.5707979215525225,-0.41472360731663616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.920000000000496,"qpos":[-1.9853925369672139,-1.6125561585422854,1.6758120229381008,-1.6338153551811005,-1.5708033475471999,-0.414591260273245,0.0029356885253928456,0.0001563573192040903,0.003195541737028874,-0.0034313945256952676,0.002935668386315922,0.00015629183829142613,0.0031995357468116467,-0.003440186183879685,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,5.1993824399730213e-17,4.9099244226151216e-17,-9.423948951139614e-08],"qvel":[-0.0006550471101333972,0.0008114658735634475,0.015543179606217651,-0.017114424167032027,2.468331193998345e-05,-0.0006684540144569596,-9.71814270824558e-06,-2.7193317721944523e-07,-9.602531128090004e-06,9.870334925367732e-06,-9.625190656352727e-06,3.5987489359398757e-08,-7.839817400091283e-06,1.029351368082312e-05,-6.938519497589918e-17,8.124906574211174e-17,6.183409190739982e-15,9.612568918428563e-16,-5.312649851131784e-17,-4.811391516845693e-08],"joint_position_rad":[-1.9853925369672139,-1.6125561585422854,1.6758120229381008,-1.6338153551811005,-1.5708033475471999,-0.414591260273245],"joint_velocity_rad_s":[-0.0006550471101333972,0.0008114658735634475,0.015543179606217651,-0.017114424167032027,2.468331193998345e-05,-0.0006684540144569596],"linkage_position_rad":[0.0029356885253928456,0.0001563573192040903,0.003195541737028874,-0.0034313945256952676,0.002935668386315922,0.00015629183829142613,0.0031995357468116467,-0.003440186183879685],"tcp_position_m":[0.06805451591885521,0.4872818881848025,0.3070260362813486],"tcp_quaternion_wxyz":[4.618237381162493e-05,0.7071085259818582,0.7071050264625592,-0.0001090978225544457],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,5.1993824399730213e-17,4.9099244226151216e-17,-9.423948951139614e-08],"object_linear_velocity_m_s":[-6.938519497589918e-17,8.124906574211174e-17,6.183409190739982e-15],"object_angular_velocity_rad_s":[9.612568771048978e-16,-5.312667468478109e-17,-4.811391516845693e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313498567752489,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855202429629737,-1.6219950789199296,1.668418932215249,-1.6420455302846413,-1.5707966974106438,-0.4147236076322206,0.0],"actuator_force":[0.00660685253342308,-19.20242710471348,-21.00345328819094,-2.4036451350671086,0.0008567370840637523,0.0006717219579002176,-0.29347112891861543],"issued_joint_targets_rad":[-1.9855204228966095,-1.6124286711601767,1.678870100519494,-1.6372223552072853,-1.5707977683400218,-0.414723792471616],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.920000000000496,"joint_targets_rad":[-1.9855204228966095,-1.6124286711601767,1.678870100519494,-1.6372223552072853,-1.5707977683400218,-0.414723792471616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.940000000000484,"qpos":[-1.9854049711017525,-1.612540947898114,1.6761070019570823,-1.63414047171709,-1.5708028621192238,-0.4146039627546865,0.002935502052705577,0.0001563519109416998,0.003195356871461798,-0.003431205298426979,0.002935483837563364,0.00015629267431228048,0.0031993867312823665,-0.003439988142536575,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,5.5075555136832286e-17,4.699182766336161e-17,-9.456108221892706e-08],"qvel":[-0.0005919757168880228,0.0007173347438905125,0.014049497678948726,-0.015493759891640849,2.3267894866123056e-05,-0.0006052319691219802,-8.933086116241363e-06,-2.45302313065254e-07,-8.83343271340557e-06,9.058760140383679e-06,-8.849293348270166e-06,3.23801725842123e-08,-7.239067314747096e-06,9.445081228704203e-06,-1.2609674639185244e-16,1.640555412856083e-16,6.277778147833121e-15,7.191489522690051e-15,4.698390695115825e-15,-8.784385882077489e-08],"joint_position_rad":[-1.9854049711017525,-1.612540947898114,1.6761070019570823,-1.63414047171709,-1.5708028621192238,-0.4146039627546865],"joint_velocity_rad_s":[-0.0005919757168880228,0.0007173347438905125,0.014049497678948726,-0.015493759891640849,2.3267894866123056e-05,-0.0006052319691219802],"linkage_position_rad":[0.002935502052705577,0.0001563519109416998,0.003195356871461798,-0.003431205298426979,0.002935483837563364,0.00015629267431228048,0.0031993867312823665,-0.003439988142536575],"tcp_position_m":[0.06806149738569295,0.48728344630826015,0.30690644795479616],"tcp_quaternion_wxyz":[4.325038035030045e-05,0.7071084317505321,0.7071051219060065,-0.0001022301247717589],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,5.5075555136832286e-17,4.699182766336161e-17,-9.456108221892706e-08],"object_linear_velocity_m_s":[-1.2609674639185244e-16,1.640555412856083e-16,6.277778147833121e-15],"object_angular_velocity_rad_s":[7.191490403003855e-15,4.698389344721776e-15,-8.784385882077489e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313499853136839,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98552040127956,-1.6219953766444677,1.6684203646520235,-1.6420482841945419,-1.5707965425866415,-0.41472379276565224,0.0],"actuator_force":[0.005929931140599365,-19.195791390263366,-20.993073681697297,-2.4045302495618444,0.0008329768046451136,0.000608191429279259,-0.29346038261612445],"issued_joint_targets_rad":[-1.9855205617296057,-1.6124289141433492,1.6788713287881691,-1.6372247864193807,-1.570797629981919,-0.414723960028812],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.940000000000484,"joint_targets_rad":[-1.9855205617296057,-1.6124289141433492,1.6788713287881691,-1.6372247864193807,-1.570797629981919,-0.414723960028812],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.960000000000473,"qpos":[-1.9854162085203741,-1.6125275127453909,1.6763736419641861,-1.6344348001493523,-1.5708024051849099,-0.4146154638339184,0.0029353308232206677,0.00015634702821285172,0.003195187074867511,-0.0034310317483097026,0.002935314347018605,0.000156293434753258,0.003199249364899736,-0.0034398066076276597,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,6.280629837232502e-17,4.893057995889351e-17,-9.489429489982898e-08],"qvel":[-0.0005349823573476736,0.0006333919914353205,0.01269976963601642,-0.0140264901527834,2.1896127810156252e-05,-0.0005479890350682183,-8.195069509343733e-06,-2.212982444545823e-07,-8.108996097914307e-06,8.298871978453094e-06,-8.119515348229072e-06,2.9170186817693866e-08,-6.66687119646547e-06,8.65125912771647e-06,-5.886035975874176e-17,7.496125901611445e-17,6.3430037505298535e-15,-2.0356572464202744e-15,-1.8277630229668477e-15,-9.5171627351628e-09],"joint_position_rad":[-1.9854162085203741,-1.6125275127453909,1.6763736419641861,-1.6344348001493523,-1.5708024051849099,-0.4146154638339184],"joint_velocity_rad_s":[-0.0005349823573476736,0.0006333919914353205,0.01269976963601642,-0.0140264901527834,2.1896127810156252e-05,-0.0005479890350682183],"linkage_position_rad":[0.0029353308232206677,0.00015634702821285172,0.003195187074867511,-0.0034310317483097026,0.002935314347018605,0.000156293434753258,0.003199249364899736,-0.0034398066076276597],"tcp_position_m":[0.06806781761455158,0.48728489014964915,0.3067985440006823],"tcp_quaternion_wxyz":[4.045398974717286e-05,0.7071083391075685,0.7071052156327648,-9.567105559940789e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,6.280629837232502e-17,4.893057995889351e-17,-9.489429489982898e-08],"object_linear_velocity_m_s":[-5.886035975874176e-17,7.496125901611445e-17,6.3430037505298535e-15],"object_angular_velocity_rad_s":[-2.035657594240165e-15,-1.8277626354268213e-15,-9.517162735162802e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313501039854634,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855205440991883,-1.6219957363503634,1.6684217457544013,-1.6420507677018186,-1.5707964027123456,-0.41472396030262365,0.0],"actuator_force":[0.005321785310570704,-19.189804006519353,-20.98370027397641,-2.4053347609548155,0.0008116235012494144,0.0005506691541938835,-0.2934506855876758],"issued_joint_targets_rad":[-1.9855206873575775,-1.6124292118484607,1.6788725094955403,-1.63722697790222,-1.5707975050213074,-0.4147241116630403],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.960000000000473,"joint_targets_rad":[-1.9855206873575775,-1.6124292118484607,1.6788725094955403,-1.63722697790222,-1.5707975050213074,-0.4147241116630403],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.980000000000462,"qpos":[-1.9854263644661312,-1.612515659403239,1.676614672672458,-1.6347012546899113,-1.5708019757588718,-0.4146258771323601,0.002935173884425806,0.0001563426198874721,0.0031950314141264437,-0.0034308728517067504,0.002935158979958447,0.00015629412646340156,0.003199123041057512,-0.0034396404774618182,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,5.188201861749082e-17,3.891244397956577e-17,-9.537475903281868e-08],"qvel":[-0.00048348136310438577,0.0005586273910009613,0.011480048539359163,-0.012698108007732387,2.0572799920274383e-05,-0.0004961597971504149,-7.504843652748086e-06,-1.996584488661388e-07,-7.430352430409072e-06,7.5905997557509395e-06,-7.43670326257884e-06,2.6307680081301687e-08,-6.1259072625294485e-06,7.911801661191224e-06,-5.023669174703205e-17,6.532832515892706e-17,6.374922662487829e-15,-2.3679587218083553e-15,-1.5882794558572713e-15,-1.7375935771489664e-08],"joint_position_rad":[-1.9854263644661312,-1.612515659403239,1.676614672672458,-1.6347012546899113,-1.5708019757588718,-0.4146258771323601],"joint_velocity_rad_s":[-0.00048348136310438577,0.0005586273910009613,0.011480048539359163,-0.012698108007732387,2.0572799920274383e-05,-0.0004961597971504149],"linkage_position_rad":[0.002935173884425806,0.0001563426198874721,0.0031950314141264437,-0.0034308728517067504,0.002935158979958447,0.00015629412646340156,0.003199123041057512,-0.0034396404774618182],"tcp_position_m":[0.06807353912245098,0.4872862269929902,0.30670118271756286],"tcp_quaternion_wxyz":[3.77943618870285e-05,0.707108248631489,0.7071053070738802,-8.942509154782355e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,5.188201861749082e-17,3.891244397956577e-17,-9.537475903281868e-08],"object_linear_velocity_m_s":[-5.023669174703205e-17,6.532832515892706e-17,6.374922662487829e-15],"object_angular_velocity_rad_s":[-2.3679590261241336e-15,-1.5882790023672604e-15,-1.7375935771489667e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313502132640752,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855206729784927,-1.6219961348251593,1.6684230646174065,-1.6420530083028868,-1.570796276327349,-0.4147241119178768,0.0],"actuator_force":[0.004775520518705889,-19.184401800241176,-20.975235525846983,-2.4060660057144787,0.0007924357693127604,0.0004985869566951351,-0.29344193548463604],"issued_joint_targets_rad":[-1.9855208010387186,-1.6124295447274,1.6788736343642223,-1.6372289540311948,-1.5707973921456058,-0.41472424888994514],"issued_gripper_0_255":0.0,"command":{"t_seconds":8.980000000000462,"joint_targets_rad":[-1.9855208010387186,-1.6124295447274,1.6788736343642223,-1.6372289540311948,-1.5707973921456058,-0.41472424888994514],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.000000000000451,"qpos":[-1.9854355430913497,-1.6125052136516396,1.6768325595937192,-1.6349424739228469,-1.5708015727798297,-0.41463530552673994,0.002935030280101871,0.00015633863981920164,0.0031948889501488835,-0.003430727593306477,0.0029350167962423407,0.00015629475566422183,0.0031990071159567323,-0.003439488666024742,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,2.7211830013566974e-17,3.761631967476931e-17,-9.579539622564005e-08],"qvel":[-0.0004369433930422108,0.0004921159670295726,0.010377751942991304,-0.011495476567665188,1.9301362279413215e-05,-0.0004492323051301101,-6.862122839695864e-06,-1.8014727946295339e-07,-6.797532196362882e-06,6.932982516575122e-06,-6.800656656619717e-06,2.374998647563243e-08,-5.617603037771616e-06,7.225571217645872e-06,-5.442109293708505e-17,3.572509680745129e-17,6.380473777610956e-15,-1.963161426215942e-15,-5.715997164549056e-16,-3.172407074846289e-08],"joint_position_rad":[-1.9854355430913497,-1.6125052136516396,1.6768325595937192,-1.6349424739228469,-1.5708015727798297,-0.41463530552673994],"joint_velocity_rad_s":[-0.0004369433930422108,0.0004921159670295726,0.010377751942991304,-0.011495476567665188,1.9301362279413215e-05,-0.0004492323051301101],"linkage_position_rad":[0.002935030280101871,0.00015633863981920164,0.0031948889501488835,-0.003430727593306477,0.0029350167962423407,0.00015629475566422183,0.0031990071159567323,-0.003439488666024742],"tcp_position_m":[0.06807871854298457,0.48728746382688615,0.30661333394958745],"tcp_quaternion_wxyz":[3.527117148796127e-05,0.7071081607785561,0.7071053957828595,-8.349297628697683e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,2.7211830013566974e-17,3.761631967476931e-17,-9.579539622564005e-08],"object_linear_velocity_m_s":[-5.442109293708505e-17,3.572509680745129e-17,6.380473777610956e-15],"object_angular_velocity_rad_s":[-1.9631615381158348e-15,-5.715993386047018e-16,-3.17240707484629e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313503136656534,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855207893112958,-1.6219965543247563,1.6684243143071613,-1.642055030537793,-1.5707961621153739,-0.4147242491269875,0.0],"actuator_force":[0.004284917324639537,-19.179527733045234,-20.967591350312432,-2.4067306507065496,0.0007751959999495739,0.0004514303892335647,-0.293434039919729],"issued_joint_targets_rad":[-1.9855209039114734,-1.612429897736748,1.6788746982751352,-1.6372307365782808,-1.570797290172286,-0.41472437308097115],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.000000000000451,"joint_targets_rad":[-1.9855209039114734,-1.612429897736748,1.6788746982751352,-1.6372307365782808,-1.570797290172286,-0.41472437308097115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.02000000000044,"qpos":[-1.9854438385218305,-1.612496019037943,1.6770295298379951,-1.635160846838633,-1.5708011951346206,-0.4146438421650908,0.0029348990681200746,0.0001563350463581801,0.0031947587559571088,-0.0034305949818385006,0.0029348868682739894,0.00015629532800891339,0.0031989009296811014,-0.0034393501180029298,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.936725172420428e-18,3.748580891662606e-17,-9.61884936490388e-08],"qvel":[-0.0003948900445992115,0.0004330137040318687,0.009381525992592017,-0.010406699925982768,1.8084141672213327e-05,-0.0004067430177370533,-6.265859544562593e-06,-1.6255306020111534e-07,-6.209750617198169e-06,6.3244178688194205e-06,-6.210403974983957e-06,2.1460483513085675e-08,-5.142436178743168e-06,6.590790044397951e-06,-6.780643025614086e-17,-2.0003136270642297e-17,6.452638274211592e-15,-3.826664539361165e-15,1.014811689599051e-15,-5.792014186106546e-08],"joint_position_rad":[-1.9854438385218305,-1.612496019037943,1.6770295298379951,-1.635160846838633,-1.5708011951346206,-0.4146438421650908],"joint_velocity_rad_s":[-0.0003948900445992115,0.0004330137040318687,0.009381525992592017,-0.010406699925982768,1.8084141672213327e-05,-0.0004067430177370533],"linkage_position_rad":[0.0029348990681200746,0.0001563350463581801,0.0031947587559571088,-0.0034305949818385006,0.0029348868682739894,0.00015629532800891339,0.0031989009296811014,-0.0034393501180029298],"tcp_position_m":[0.06808340717426006,0.48728860732540447,0.30653406819315693],"tcp_quaternion_wxyz":[3.28828829805369e-05,0.7071080758996712,0.7071054814184862,-7.787239628258318e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.936725172420428e-18,3.748580891662606e-17,-9.61884936490388e-08],"object_linear_velocity_m_s":[-6.780643025614086e-17,-2.0003136270642297e-17,6.452638274211592e-15],"object_angular_velocity_rad_s":[-3.826664348477047e-15,1.0148124255368776e-15,-5.7920141861065484e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313504057287451,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855208943466531,-1.6219969814453103,1.668425490937802,-1.6420568563336608,-1.5707960588900651,-0.41472437330133644,0.0],"actuator_force":[0.003844368194222625,-19.175130296348016,-20.96068819742277,-2.4073347549156097,0.0007597081105359393,0.0004087336508860062,-0.2934269155021055],"issued_joint_targets_rad":[-1.9855209970058179,-1.6124302594213236,1.6788756985272002,-1.6372323450102049,-1.5707971980359579,-0.4147244854769775],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.02000000000044,"joint_targets_rad":[-1.9855209970058179,-1.6124302594213236,1.6788756985272002,-1.6372323450102049,-1.5707971980359579,-0.4147244854769775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.040000000000429,"qpos":[-1.9854513358196828,-1.6124879352809194,1.6772075953521939,-1.6353585364152181,-1.570800841678263,-0.4146515713866752,0.0029347793333605616,0.00015633180191182864,0.0031946399298488897,-0.0034304740612703037,0.0029347682940685962,0.00015629584863560543,0.0031988038220661153,-0.003439223819351284,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.5923225680097663e-17,3.821283101413266e-17,-9.651351654599959e-08],"qvel":[-0.00035688897450827467,0.0003805527810903332,0.00848112349622446,-0.009421006193239453,1.6922525875045422e-05,-0.00036827222510866267,-5.714461088088409e-06,-1.4668564379188154e-07,-5.665634459486914e-06,5.762856867839252e-06,-5.664420311078395e-06,1.9407580926166616e-08,-4.700173741719758e-06,6.005238078907299e-06,-1.2500648652936414e-16,-4.4620282239676385e-17,6.531741664716136e-15,-2.750707385672239e-15,5.8394192871317915e-15,-1.0574755238082136e-07],"joint_position_rad":[-1.9854513358196828,-1.6124879352809194,1.6772075953521939,-1.6353585364152181,-1.570800841678263,-0.4146515713866752],"joint_velocity_rad_s":[-0.00035688897450827467,0.0003805527810903332,0.00848112349622446,-0.009421006193239453,1.6922525875045422e-05,-0.00036827222510866267],"linkage_position_rad":[0.0029347793333605616,0.00015633180191182864,0.0031946399298488897,-0.0034304740612703037,0.0029347682940685962,0.00015629584863560543,0.0031988038220661153,-0.003439223819351284],"tcp_position_m":[0.06808765147694806,0.4872896638369176,0.30646254676627993],"tcp_quaternion_wxyz":[3.062698641236165e-05,0.707107994255438,0.7071055637295564,-7.255856158788224e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.5923225680097663e-17,3.821283101413266e-17,-9.651351654599959e-08],"object_linear_velocity_m_s":[-1.2500648652936414e-16,-4.4620282239676385e-17,6.531741664716136e-15],"object_angular_velocity_rad_s":[-2.750706266588236e-15,5.839419814724887e-15,-1.0574755238082141e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931350489998952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855209892047494,-1.6219974062151734,1.6684265929376623,-1.6420585053045416,-1.5707959655821344,-0.4147244856817225,0.0],"actuator_force":[0.0034488196702113783,-19.171162980944246,-20.954454227553015,-2.4078838253377626,0.0007457954768597119,0.0003700749872166398,-0.29342048696446205],"issued_joint_targets_rad":[-1.9855210812535125,-1.6124306211749009,1.6788766342492087,-1.637233796749502,-1.5707971147767017,-0.4147245872006007],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.040000000000429,"joint_targets_rad":[-1.9855210812535125,-1.6124306211749009,1.6788766342492087,-1.637233796749502,-1.5707971147767017,-0.4147245872006007],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.060000000000418,"qpos":[-1.9854581118543047,-1.6124808367781926,1.6773685738597122,-1.6355375009760496,-1.5708005112506136,-0.4146585695549226,0.0029346701967939573,0.00015632887254847473,0.0031945316046891894,-0.0034303639184802698,0.002934660206468784,0.00015629632221542624,0.0031987151444366267,-0.003439108804400765,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-2.0001232111442677e-17,4.7001943116858013e-17,-9.691464220123207e-08],"qvel":[-0.00032254948196818454,0.0003340365563061879,0.007667294452083663,-0.008528641511838379,1.581712384751825e-05,-0.0003334399042595417,-5.205959450649285e-06,-1.3237402718621364e-07,-5.163398760240967e-06,5.245956128910174e-06,-5.160798171180081e-06,1.7563991575437952e-08,-4.290061418995541e-06,5.466406749915332e-06,-5.5118663902718026e-17,-2.295960058543476e-17,6.544231673743172e-15,6.206609291878062e-16,-1.3276087305914143e-15,-1.1456881316049496e-08],"joint_position_rad":[-1.9854581118543047,-1.6124808367781926,1.6773685738597122,-1.6355375009760496,-1.5708005112506136,-0.4146585695549226],"joint_velocity_rad_s":[-0.00032254948196818454,0.0003340365563061879,0.007667294452083663,-0.008528641511838379,1.581712384751825e-05,-0.0003334399042595417],"linkage_position_rad":[0.0029346701967939573,0.00015632887254847473,0.0031945316046891894,-0.0034303639184802698,0.002934660206468784,0.00015629632221542624,0.0031987151444366267,-0.003439108804400765],"tcp_position_m":[0.06809149352676529,0.48729063937925654,0.3063980129371938],"tcp_quaternion_wxyz":[2.8500199287968477e-05,0.7071079160295394,0.7071056425413481,-6.754470363573478e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-2.0001232111442677e-17,4.7001943116858013e-17,-9.691464220123207e-08],"object_linear_velocity_m_s":[-5.5118663902718026e-17,-2.295960058543476e-17,6.544231673743172e-15],"object_angular_velocity_rad_s":[6.206606707813533e-16,-1.327608851351957e-15,-1.14568813160495e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313505670174471,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521074890913,-1.6219978213651294,1.6684276204678314,-1.642059995013657,-1.5707958812277394,-0.41472458739072515,0.0],"actuator_force":[0.0030937195710976084,-19.167583796395775,-20.948824564594815,-2.408382867619821,0.0007332990523991612,0.00033507252464914927,-0.29341468637502793],"issued_joint_targets_rad":[-1.9855211574974143,-1.6124309766446376,1.6788775059341559,-1.6372351074034606,-1.5707970395295379,-0.41472467926747564],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.060000000000418,"joint_targets_rad":[-1.9855211574974143,-1.6124309766446376,1.6788775059341559,-1.6372351074034606,-1.5707970395295379,-0.41472467926747564],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.080000000000407,"qpos":[-1.9854642360901311,-1.6124746112192234,1.6775141077345666,-1.6356995135337942,-1.5708002026900891,-0.41466490581161214,0.0029345708215649203,0.0001563262276401401,0.0031944329541780717,-0.003430263688168907,0.0029345617793495767,0.00015629675299583652,0.0031986342680855096,-0.0034390041602464262,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-2.4573021470739283e-17,6.628238147846888e-17,-9.73697482100277e-08],"qvel":[-0.00029151851145643346,0.00029283447071708766,0.006931687696566202,-0.0077207740271549525,1.4767903874181906e-05,-0.0003019019665612655,-4.738143591657581e-06,-1.1946443104995418e-07,-4.700985671956649e-06,4.771196007494394e-06,-4.697380628525931e-06,1.5906025463404845e-08,-3.910972807511436e-06,4.971619247603491e-06,-8.407957308931808e-17,-3.2113552848535974e-17,6.606681718878337e-15,3.163860385341654e-16,-9.18458196225168e-16,-2.091737206024003e-08],"joint_position_rad":[-1.9854642360901311,-1.6124746112192234,1.6775141077345666,-1.6356995135337942,-1.5708002026900891,-0.41466490581161214],"joint_velocity_rad_s":[-0.00029151851145643346,0.00029283447071708766,0.006931687696566202,-0.0077207740271549525,1.4767903874181906e-05,-0.0003019019665612655],"linkage_position_rad":[0.0029345708215649203,0.0001563262276401401,0.0031944329541780717,-0.003430263688168907,0.0029345617793495767,0.00015629675299583652,0.0031986342680855096,-0.0034390041602464262],"tcp_position_m":[0.06809497142537364,0.4872915396398437,0.3063397839188185],"tcp_quaternion_wxyz":[2.6498638682627648e-05,0.7071078413405562,0.7071057177437147,-6.282250050960504e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-2.4573021470739283e-17,6.628238147846888e-17,-9.73697482100277e-08],"object_linear_velocity_m_s":[-8.407957308931808e-17,-3.2113552848535974e-17,6.606681718878337e-15],"object_angular_velocity_rad_s":[3.163858569011664e-16,-9.184582588660147e-16,-2.0917372060240044e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313506373125643,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855211523079985,-1.6219982217429438,1.6684285749631946,-1.6420613412031624,-1.5707958049579938,-0.414724679443925,0.0],"actuator_force":[0.0027749688479161705,-19.164354835727863,-20.943740621370125,-2.408836431968666,0.0007220756602919209,0.0003033804997016887,-0.29340945242462396],"issued_joint_targets_rad":[-1.985521226499929,-1.6124313212520363,1.6788783150720126,-1.6372362909652212,-1.5707969715149388,-0.4147247625964069],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.080000000000407,"joint_targets_rad":[-1.985521226499929,-1.6124313212520363,1.6788783150720126,-1.6372362909652212,-1.5707969715149388,-0.4147247625964069],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.100000000000396,"qpos":[-1.9854697712990195,-1.612469158303284,1.677645681018794,-1.6358461793090506,-1.5707999148448586,-0.4146706427597447,0.0029344804167499234,0.00015632383954008357,0.003194343196768332,-0.003430172555654232,0.0029344722314859385,0.000156297144839353,0.0031985605901849795,-0.003438909029089807,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-3.805138080222471e-17,6.52043953594662e-17,-9.781513312788506e-08],"qvel":[-0.0002634770360579712,0.0002563769965059564,0.00626676249080157,-0.0069894068859105785,1.3774312313317911e-05,-0.0002733468600936067,-4.308661598669222e-06,-1.0781851277508614e-07,-4.27617175617569e-06,4.3359703803874585e-06,-4.2718641975747146e-06,1.441306310437269e-08,-3.5615264271310923e-06,4.518119094114574e-06,-8.829302779283587e-17,-5.660329531885856e-17,6.627498400590062e-15,-1.0795453099211711e-15,-7.117386879702608e-16,-3.8189839087675055e-08],"joint_position_rad":[-1.9854697712990195,-1.612469158303284,1.677645681018794,-1.6358461793090506,-1.5707999148448586,-0.4146706427597447],"joint_velocity_rad_s":[-0.0002634770360579712,0.0002563769965059564,0.00626676249080157,-0.0069894068859105785,1.3774312313317911e-05,-0.0002733468600936067],"linkage_position_rad":[0.0029344804167499234,0.00015632383954008357,0.003194343196768332,-0.003430172555654232,0.0029344722314859385,0.000156297144839353,0.0031985605901849795,-0.003438909029089807],"tcp_position_m":[0.0680981196733777,0.4872923699797,0.3062872436447006],"tcp_quaternion_wxyz":[2.4617967449201494e-05,0.7071077702523721,0.7071057892806168,-5.83824389421078e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-3.805138080222471e-17,6.52043953594662e-17,-9.781513312788506e-08],"object_linear_velocity_m_s":[-8.829302779283587e-17,-5.660329531885856e-17,6.627498400590062e-15],"object_angular_velocity_rad_s":[-1.0795454541390713e-15,-7.117384796848631e-16,-3.818983908767508e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507013938062,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855212222673422,-1.6219986038446654,1.6684294587718043,-1.642062557995798,-1.570795735989511,-0.4147247627600748,0.0],"actuator_force":[0.0024888777775231574,-19.161441881365135,-20.93914949029977,-2.409248654782573,0.0007119964425328362,0.000274685844317446,-0.2934047297828119],"issued_joint_targets_rad":[-1.985521288950672,-1.6124316518083026,1.6788790638615028,-1.6372373599907364,-1.5707969100302808,-0.4147248380185953],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.100000000000396,"joint_targets_rad":[-1.985521288950672,-1.6124316518083026,1.6788790638615028,-1.6372373599907364,-1.5707969100302808,-0.4147248380185953],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.120000000000385,"qpos":[-1.9854747742043866,-1.6124643885599055,1.6777646347698851,-1.635978951595667,-1.5707996465818703,-0.4146758370818497,0.002934398239329098,0.00015632168329206806,0.0031942615977744483,-0.003430089758051956,0.0029343908286238647,0.00015629750125935673,0.00319849353770583,-0.0034388226089799947,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-3.74117007454705e-17,5.0310472727450206e-17,-9.81673107788099e-08],"qvel":[-0.00023813678576208293,0.00022415071952958243,0.005665708998441165,-0.006327299418420215,1.2835375382931048e-05,-0.0002474924933238275,-3.915098716652484e-06,-9.731173977284857e-08,-3.886650203819995e-06,3.93765515835161e-06,-3.881877501380568e-06,1.30670965357592e-08,-3.2401765056030393e-06,4.10314200614151e-06,-7.74824062225654e-17,-6.811813657015917e-17,6.628886179370843e-15,-9.776229533599926e-16,-8.877842081881639e-16,-6.972500203860354e-08],"joint_position_rad":[-1.9854747742043866,-1.6124643885599055,1.6777646347698851,-1.635978951595667,-1.5707996465818703,-0.4146758370818497],"joint_velocity_rad_s":[-0.00023813678576208293,0.00022415071952958243,0.005665708998441165,-0.006327299418420215,1.2835375382931048e-05,-0.0002474924933238275],"linkage_position_rad":[0.002934398239329098,0.00015632168329206806,0.0031942615977744483,-0.003430089758051956,0.0029343908286238647,0.00015629750125935673,0.00319849353770583,-0.0034388226089799947],"tcp_position_m":[0.06810096950879399,0.4872931354404298,0.3062398362502704],"tcp_quaternion_wxyz":[2.2853517888611908e-05,0.7071077027832953,0.7071058571409774,-5.421412121021138e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-3.74117007454705e-17,5.0310472727450206e-17,-9.81673107788099e-08],"object_linear_velocity_m_s":[-7.74824062225654e-17,-6.811813657015917e-17,6.628886179370843e-15],"object_angular_velocity_rad_s":[-9.776231346785472e-16,-8.87784021463976e-16,-6.97250020386036e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313507597477465,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855212854984645,-1.6219989654402518,1.668430274873054,-1.6420636580722063,-1.570795673615883,-0.4147248381703257,0.0],"actuator_force":[0.0022321261485558352,-19.15881404850461,-20.93500339303864,-2.4096232964276396,0.000702945455373083,0.0002487050943784652,-0.293400468516558],"issued_joint_targets_rad":[-1.985521345473414,-1.6124319662061255,1.6788797549851855,-1.6372383257547412,-1.570796854442155,-0.4147249062859837],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.120000000000385,"joint_targets_rad":[-1.985521345473414,-1.6124319662061255,1.6788797549851855,-1.6372383257547412,-1.570796854442155,-0.4147249062859837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.140000000000374,"qpos":[-1.98547929606358,-1.612460222267881,1.6778721809054713,-1.6360991461282444,-1.570799396794031,-0.41468054009983213,0.0029343235948013084,0.0001563197363679669,0.003194187470110142,-0.003430014584226707,0.002934316884185094,0.00015629782545165105,0.003198432569783101,-0.0034387441533976055,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-3.148212828312893e-17,3.3237200177871713e-17,-9.843179432002794e-08],"qvel":[-0.00021523728830413156,0.00019569361892592677,0.005122376725550831,-0.0057278957392312415,1.1949786118768788e-05,-0.0002240834496109464,-3.5550362069749604e-06,-8.783201567192002e-08,-3.5300931398328e-06,3.5736592470629924e-06,-3.5250406822284165e-06,1.1852398692292343e-08,-2.945283175902558e-06,3.7239647301866835e-06,-4.309353400515577e-17,-3.7848423050406356e-17,6.6996628971906975e-15,1.349529526347124e-15,-1.814102184177644e-15,-7.554132981166502e-09],"joint_position_rad":[-1.98547929606358,-1.612460222267881,1.6778721809054713,-1.6360991461282444,-1.570799396794031,-0.41468054009983213],"joint_velocity_rad_s":[-0.00021523728830413156,0.00019569361892592677,0.005122376725550831,-0.0057278957392312415,1.1949786118768788e-05,-0.0002240834496109464],"linkage_position_rad":[0.0029343235948013084,0.0001563197363679669,0.003194187470110142,-0.003430014584226707,0.002934316884185094,0.00015629782545165105,0.003198432569783101,-0.0034387441533976055],"tcp_position_m":[0.06810354921409474,0.48729384075344456,0.30619706019065146],"tcp_quaternion_wxyz":[2.1200395853610704e-05,0.7071076389140168,0.7071059213507128,-5.030652411943082e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-3.148212828312893e-17,3.3237200177871713e-17,-9.843179432002794e-08],"object_linear_velocity_m_s":[-4.309353400515577e-17,-3.7848423050406356e-17,6.6996628971906975e-15],"object_angular_velocity_rad_s":[1.3495291687142762e-15,-1.814102450326476e-15,-7.554132981166509e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508128354019,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855213426576799,-1.621999305275348,1.668431026658889,-1.6420646528271303,-1.5707956172000122,-0.41472490642657317,0.0],"actuator_force":[0.0020017271217511734,-19.156443462504285,-20.93125918338501,-2.4099637755198273,0.0006948183975055144,0.00022518159056517106,-0.2933966235648741],"issued_joint_targets_rad":[-1.9855213966323673,-1.612432263173249,1.678880391435131,-1.6372391983884473,-1.5707968041794464,-0.4147249680788208],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.140000000000374,"joint_targets_rad":[-1.9855213966323673,-1.612432263173249,1.678880391435131,-1.6372391983884473,-1.5707968041794464,-0.4147249680788208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.160000000000363,"qpos":[-1.9854833831943544,-1.6124565884679996,1.6779694146951576,-1.6362079540928374,-1.5707991644058048,-0.4146847982818853,0.0029342558367852355,0.000156317978431133,0.0031941201739952635,-0.0034299463738474115,0.0029342497589492783,0.00015629812032354396,0.003198377178900826,-0.003438672969956548,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-3.0093994892655624e-17,2.5261034289733783e-17,-9.891467447587959e-08],"qvel":[-0.00019454319312779748,0.0001705905855971001,0.00463121009652232,-0.005185260071512533,1.1115978409686684e-05,-0.00020288846511480642,-3.226094998859102e-06,-7.927839116986319e-08,-3.2041981085763742e-06,3.2414616243224514e-06,-3.199009555256044e-06,1.0755066166060505e-08,-2.675166185583226e-06,3.377942701662424e-06,-3.3738510402005087e-17,-3.627227984727808e-17,6.713540684998515e-15,1.1298053116723279e-15,-1.3238242093511449e-15,-1.3791939167445292e-08],"joint_position_rad":[-1.9854833831943544,-1.6124565884679996,1.6779694146951576,-1.6362079540928374,-1.5707991644058048,-0.4146847982818853],"joint_velocity_rad_s":[-0.00019454319312779748,0.0001705905855971001,0.00463121009652232,-0.005185260071512533,1.1115978409686684e-05,-0.00020288846511480642],"linkage_position_rad":[0.0029342558367852355,0.000156317978431133,0.0031941201739952635,-0.0034299463738474115,0.0029342497589492783,0.00015629812032354396,0.003198377178900826,-0.003438672969956548],"tcp_position_m":[0.0681058843946715,0.48729449035083156,0.3061584629329335],"tcp_quaternion_wxyz":[1.9653567888888857e-05,0.7071075785945397,0.7071059819658209,-4.664821641444501e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-3.0093994892655624e-17,2.5261034289733783e-17,-9.891467447587959e-08],"object_linear_velocity_m_s":[-3.3738510402005087e-17,-3.627227984727808e-17,6.713540684998515e-15],"object_angular_velocity_rad_s":[1.129805049084228e-15,-1.3238244336898784e-15,-1.3791939167445304e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313508610907421,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855213943357415,-1.6219996228344382,1.6684317177653023,-1.6420655525072447,-1.570795566167205,-0.41472496820902033,0.0],"actuator_force":[0.0017949944767678971,-19.15430496711633,-20.92787789831982,-2.4102732000524156,0.0006875214588717427,0.00020388294396411766,-0.29339315426395507],"issued_joint_targets_rad":[-1.9855214429378802,-1.6124325420759822,1.6788809763789796,-1.6372399870013121,-1.5707967587271126,-0.4147250240125098],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.160000000000363,"joint_targets_rad":[-1.9855214429378802,-1.6124325420759822,1.6788809763789796,-1.6372399870013121,-1.5707967587271126,-0.4147250240125098],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.180000000000351,"qpos":[-1.9854870774507698,-1.6124534240640913,1.6780573260339178,-1.6363064539086611,-1.5707989483774794,-0.4146886537014753,0.002934194365876954,0.0001563163911228258,0.0031940591159050156,-0.003429884515804853,0.0029341888599848103,0.00015629838852004974,0.003198326891174909,-0.0034386084185088653,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-3.0704791874993034e-17,1.9367572090214715e-17,-9.93998219052541e-08],"qvel":[-0.00017584185170805387,0.00014846920503988126,0.004187190431103841,-0.004694018165107245,1.0332189768069065e-05,-0.00018369814516901474,-2.925967186456202e-06,-7.155994768985849e-08,-2.906722210486994e-06,2.9386367892871616e-06,-2.9015075274749004e-06,9.762942522066041e-09,-2.4281449548133743e-06,3.062536039583451e-06,-2.8098985896738966e-17,-4.303513905492829e-17,6.644151745959441e-15,5.301743282314578e-16,-8.090568479775547e-16,-2.518059802121524e-08],"joint_position_rad":[-1.9854870774507698,-1.6124534240640913,1.6780573260339178,-1.6363064539086611,-1.5707989483774794,-0.4146886537014753],"joint_velocity_rad_s":[-0.00017584185170805387,0.00014846920503988126,0.004187190431103841,-0.004694018165107245,1.0332189768069065e-05,-0.00018369814516901474],"linkage_position_rad":[0.002934194365876954,0.0001563163911228258,0.0031940591159050156,-0.003429884515804853,0.0029341888599848103,0.00015629838852004974,0.003198326891174909,-0.0034386084185088653],"tcp_position_m":[0.06810799823130823,0.4872950883773814,0.30612363616687843],"tcp_quaternion_wxyz":[1.820793370167945e-05,0.7071075217501663,0.7071060390664101,-4.322754017835951e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-3.0704791874993034e-17,1.9367572090214715e-17,-9.93998219052541e-08],"object_linear_velocity_m_s":[-2.8098985896738966e-17,-4.303513905492829e-17,6.644151745959441e-15],"object_angular_velocity_rad_s":[5.301741664158604e-16,-8.090569549223371e-16,-2.5180598021215264e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509049200709,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521441064643,-1.6219999181534284,1.6684323519438784,-1.6420663663330033,-1.570795519998966,-0.41472502413302686,0.0],"actuator_force":[0.001609512937193358,-19.152375860689972,-20.924824352520318,-2.4105543956603697,0.0006809702798591388,0.000184598741100217,-0.29339002391951857],"issued_joint_targets_rad":[-1.9855214848515894,-1.6124328027629973,1.678881513058104,-1.637240699788884,-1.5707967176205886,-0.41472507464379743],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.180000000000351,"joint_targets_rad":[-1.9855214848515894,-1.6124328027629973,1.678881513058104,-1.637240699788884,-1.5707967176205886,-0.41472507464379743],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.20000000000034,"qpos":[-1.9854904166533458,-1.6124506730066654,1.6781368096177378,-1.636395621896624,-1.5707987477083032,-0.414692144452928,0.0029341386279779853,0.00015631495786963052,0.003194003746982011,-0.0034298284461557567,0.0029341336390431134,0.00015629863244789546,0.00319828126597093,-0.0034385499088056258,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-4.320587105544542e-17,2.0209024056041617e-17,-9.981150730723909e-08],"qvel":[-0.00015894112994868078,0.00012899581790044862,0.0037857836671580133,-0.004249304236579492,9.596514342550687e-06,-0.00016632289651095979,-2.6524381981936687e-06,-6.459476082013974e-08,-2.635505648383762e-06,2.6628740256995603e-06,-2.6303481579976826e-06,8.865196679841006e-09,-2.202568400629489e-06,2.775327777303497e-06,-3.410299704245697e-17,-7.141157283574239e-17,5.882261195310427e-15,-1.6377688388054305e-15,3.9433896293271097e-16,-4.597341309378648e-08],"joint_position_rad":[-1.9854904166533458,-1.6124506730066654,1.6781368096177378,-1.636395621896624,-1.5707987477083032,-0.414692144452928],"joint_velocity_rad_s":[-0.00015894112994868078,0.00012899581790044862,0.0037857836671580133,-0.004249304236579492,9.596514342550687e-06,-0.00016632289651095979],"linkage_position_rad":[0.0029341386279779853,0.00015631495786963052,0.003194003746982011,-0.0034298284461557567,0.0029341336390431134,0.00015629863244789546,0.00319828126597093,-0.0034385499088056258],"tcp_position_m":[0.06810991170904945,0.4872956387033814,0.306092211483461],"tcp_quaternion_wxyz":[1.6858385971802462e-05,0.7071074682866714,0.7071060927515662,-4.003276112141465e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-4.320587105544542e-17,2.0209024056041617e-17,-9.981150730723909e-08],"object_linear_velocity_m_s":[-3.410299704245697e-17,-7.141157283574239e-17,5.882261195310427e-15],"object_angular_velocity_rad_s":[-1.6377687619444228e-15,3.9433928589641385e-16,-4.597341309378653e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509447020508,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855214833236736,-1.622000191671951,1.6684329329650898,-1.6420671026065314,-1.570795478227409,-0.4147250747552978,0.0],"actuator_force":[0.00144311132362418,-19.150635657731527,-20.92206677215927,-2.4108099312957165,0.0006750890128159881,0.00016713846619609285,-0.293387199419274],"issued_joint_targets_rad":[-1.9855215227910794,-1.6124330454416047,1.6788820047112376,-1.637241344128471,-1.5707966804407607,-0.4147251204763838],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.20000000000034,"joint_targets_rad":[-1.9855215227910794,-1.6124330454416047,1.6788820047112376,-1.637241344128471,-1.5707966804407607,-0.4147251204763838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.22000000000033,"qpos":[-1.9854934349778335,-1.6124482855533004,1.6782086741298916,-1.636476341939647,-1.5707985614386673,-0.4146953050277227,0.0029340881122604046,0.00015631366370941777,0.0031939535610710328,-0.003429777645787005,0.002934083590583572,0.00015629885429664897,0.0031982398950299172,-0.0034384968979007608,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-4.718898243095579e-17,1.8822044378240787e-17,-1.0017389021871831e-07],"qvel":[-0.00014366743062533586,0.00011187186228135908,0.0034228932445371043,-0.0038467129128524477,8.906947428521349e-06,-0.0001505910550511461,-2.4034014530893393e-06,-5.830901573918604e-08,-2.3884886539565923e-06,2.4119865795658926e-06,-2.3834501460535697e-06,8.052324712581443e-09,-1.9968364810781225e-06,2.514032991890221e-06,-3.7082382788255395e-17,-9.440975522156697e-17,6.281941484175484e-15,-2.3868671309767575e-15,4.1917248922114004e-16,-8.393584257657517e-08],"joint_position_rad":[-1.9854934349778335,-1.6124482855533004,1.6782086741298916,-1.636476341939647,-1.5707985614386673,-0.4146953050277227],"joint_velocity_rad_s":[-0.00014366743062533586,0.00011187186228135908,0.0034228932445371043,-0.0038467129128524477,8.906947428521349e-06,-0.0001505910550511461],"linkage_position_rad":[0.0029340881122604046,0.00015631366370941777,0.0031939535610710328,-0.003429777645787005,0.002934083590583572,0.00015629885429664897,0.0031982398950299172,-0.0034384968979007608],"tcp_position_m":[0.06811164382462008,0.48729614493786105,0.3060638564755873],"tcp_quaternion_wxyz":[1.559985925873099e-05,0.707107418094729,0.7071061431349503,-3.7052192038868975e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-4.718898243095579e-17,1.8822044378240787e-17,-1.0017389021871831e-07],"object_linear_velocity_m_s":[-3.7082382788255395e-17,-9.440975522156697e-17,6.281941484175484e-15],"object_angular_velocity_rad_s":[-2.386867050156124e-15,4.191729595029703e-16,-8.393584257657526e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313509807882105,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855215215448152,-1.6220004441175528,1.6684334645467136,-1.642067768807325,-1.5707954404302387,-0.41472512057949334,0.0],"actuator_force":[0.0012938382865286258,-19.149065873417385,-20.91957646417086,-2.4110421425538107,0.0006698094714465697,0.00015132961979702486,-0.2933846508842031],"issued_joint_targets_rad":[-1.9855215571341005,-1.6124332705801578,1.678882454518211,-1.6372419266641218,-1.570796646809444,-0.4147251619659838],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.22000000000033,"joint_targets_rad":[-1.9855215571341005,-1.6124332705801578,1.678882454518211,-1.6372419266641218,-1.570796646809444,-0.4147251619659838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.240000000000318,"qpos":[-1.9854961633065749,-1.6124462175999923,1.6782736505352625,-1.6365494142298567,-1.5707983886515031,-0.4146981666552043,0.0029340423489000577,0.00015631249513457687,0.0031939080925166004,-0.0034297316378873004,0.0029340382495609005,0.000156299056058832,0.003198202401253094,-0.003438448887393183,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-4.276949889637011e-17,1.6100725510638407e-17,-1.004922788631171e-07],"qvel":[-0.00012986390585265447,9.683049516894897e-05,0.0030948176276518373,-0.0034822557083171676,8.26142269029884e-06,-0.00013634719058134214,-2.1768673675060774e-06,-5.2636174418683983e-08,-2.163721325560398e-06,2.183919131086928e-06,-2.1588466436999434e-06,7.315802411431645e-09,-1.809415378623667e-06,2.2765058193119688e-06,-1.9143378630332226e-17,-5.14798186754653e-17,6.3554937595569e-15,1.655837023320439e-15,-2.9520062902370587e-16,-9.093761178503727e-09],"joint_position_rad":[-1.9854961633065749,-1.6124462175999923,1.6782736505352625,-1.6365494142298567,-1.5707983886515031,-0.4146981666552043],"joint_velocity_rad_s":[-0.00012986390585265447,9.683049516894897e-05,0.0030948176276518373,-0.0034822557083171676,8.26142269029884e-06,-0.00013634719058134214],"linkage_position_rad":[0.0029340423489000577,0.00015631249513457687,0.0031939080925166004,-0.0034297316378873004,0.0029340382495609005,0.000156299056058832,0.003198202401253094,-0.003438448887393183],"tcp_position_m":[0.06811321177438377,0.4872966104420404,0.3060382712197791],"tcp_quaternion_wxyz":[1.442736955061674e-05,0.7071073710537001,0.7071061903410607,-3.427429320166464e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-4.276949889637011e-17,1.6100725510638407e-17,-1.004922788631171e-07],"object_linear_velocity_m_s":[-1.9143378630332226e-17,-5.14798186754653e-17,6.3554937595569e-15],"object_angular_velocity_rad_s":[1.6558369636968074e-15,-2.9520096259924326e-16,-9.093761178503737e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351013503805,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855215561175592,-1.6220006764154073,1.668433950302007,-1.6420683716772566,-1.570795406226231,-0.41472516206129034,0.0],"actuator_force":[0.0011599403724176227,-19.147649828897556,-20.91732751757172,-2.411253152868312,0.0006650703669492941,0.00013701601511684203,-0.2933823513529919],"issued_joint_targets_rad":[-1.985521588222379,-1.6124334788314616,1.6788828655595145,-1.6372424533822305,-1.5707966163853218,-0.41472519952491776],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.240000000000318,"joint_targets_rad":[-1.985521588222379,-1.6124334788314616,1.6788828655595145,-1.6372424533822305,-1.5707966163853218,-0.41472519952491776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.260000000000307,"qpos":[-1.985498629546027,-1.6124444300778003,1.678332399570318,-1.636615563188817,-1.570798228473013,-0.41470075761108116,0.0029340009066774735,0.00015631143995050023,0.0031938669138195245,-0.0034296899853368244,0.002933997189074895,0.00015629923954740688,0.0031981684372486,-0.003438405420607898,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-4.7144691123379825e-17,2.3115591435283377e-17,-1.0095136800573567e-07],"qvel":[-0.00011738884147073449,8.363348534244964e-05,0.002798211999581023,-0.003152321609219269,7.657843032461542e-06,-0.0001234505718155205,-1.9709679431362174e-06,-4.751628012632748e-08,-1.9593695071723363e-06,1.9767494827595634e-06,-1.9546901027772052e-06,6.6481152594803754e-09,-1.6388469943779672e-06,2.060740442680373e-06,-2.816550256086395e-17,-5.841090313586703e-17,5.758748883820879e-15,1.234811717149955e-15,-4.989767066167379e-16,-1.6602911451247076e-08],"joint_position_rad":[-1.985498629546027,-1.6124444300778003,1.678332399570318,-1.636615563188817,-1.570798228473013,-0.41470075761108116],"joint_velocity_rad_s":[-0.00011738884147073449,8.363348534244964e-05,0.002798211999581023,-0.003152321609219269,7.657843032461542e-06,-0.0001234505718155205],"linkage_position_rad":[0.0029340009066774735,0.00015631143995050023,0.0031938669138195245,-0.0034296899853368244,0.002933997189074895,0.00015629923954740688,0.0031981684372486,-0.003438405420607898],"tcp_position_m":[0.06811463112463295,0.4872970383427788,0.3060151851016272],"tcp_quaternion_wxyz":[1.3336045797660293e-05,0.707107327034846,0.707106234502052,-3.1687752959677366e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-4.7144691123379825e-17,2.3115591435283377e-17,-1.0095136800573567e-07],"object_linear_velocity_m_s":[-2.816550256086395e-17,-5.841090313586703e-17,5.758748883820879e-15],"object_angular_velocity_rad_s":[1.2348116156375968e-15,-4.989769574940707e-16,-1.66029114512471e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135104314891,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855215873932077,-1.6220008896184381,1.668434393703374,-1.6420689172962089,-1.5707953752711752,-0.4147251996129728,0.0],"actuator_force":[0.0010398422273283359,-19.14637247541259,-20.915296533720266,-2.411444892773943,0.0006608166157775486,0.00012405623576228209,-0.2933802764973889],"issued_joint_targets_rad":[-1.985521616513652,-1.6124336710930744,1.6788832406188832,-1.6372429291585742,-1.570796588508814,-0.4147252336575012],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.260000000000307,"joint_targets_rad":[-1.985521616513652,-1.6124336710930744,1.6788832406188832,-1.6372429291585742,-1.570796588508814,-0.4147252336575012],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.280000000000296,"qpos":[-1.985500858926897,-1.6124428884176254,1.6783855184934315,-1.6366754445909417,-1.5707980800406938,-0.41470310350872364,0.0029339633906511615,0.00015631048717714086,0.003193829633459753,-0.003429652288209762,0.0029339600180628097,0.000156299406407636,0.0031981376836849877,-0.0034383660799922554,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-7.093470436358344e-17,3.565023383991071e-17,-1.0140738585094323e-07],"qvel":[-0.000106114890514819,7.206782552939689e-05,0.002530052936543654,-0.002853638984257543,7.095717643558006e-06,-0.00011177437892587606,-1.78396061471932e-06,-4.290048668043133e-08,-1.7737420995174855e-06,1.7886873580071555e-06,-1.7692513879175183e-06,6.045867087796059e-09,-1.483724648007064e-06,1.8648809185590707e-06,-4.5638414602780366e-17,-1.0040159518328422e-16,6.54700723130474e-15,-2.7584791505423677e-16,2.221323726721348e-16,-3.031272355265011e-08],"joint_position_rad":[-1.985500858926897,-1.6124428884176254,1.6783855184934315,-1.6366754445909417,-1.5707980800406938,-0.41470310350872364],"joint_velocity_rad_s":[-0.000106114890514819,7.206782552939689e-05,0.002530052936543654,-0.002853638984257543,7.095717643558006e-06,-0.00011177437892587606],"linkage_position_rad":[0.0029339633906511615,0.00015631048717714086,0.003193829633459753,-0.003429652288209762,0.0029339600180628097,0.000156299406407636,0.0031981376836849877,-0.0034383660799922554],"tcp_position_m":[0.06811591596094042,0.48729743153962835,0.3059943539575032],"tcp_quaternion_wxyz":[1.2321144234792839e-05,0.7071072859044721,0.7071062757546344,-2.928156915596677e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-7.093470436358344e-17,3.565023383991071e-17,-1.0140738585094323e-07],"object_linear_velocity_m_s":[-4.5638414602780366e-17,-1.0040159518328422e-16,6.54700723130474e-15],"object_angular_velocity_rad_s":[-2.7584787216381684e-16,2.221324243177145e-16,-3.031272355265015e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510699996651,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855216158373086,-1.6220010849735826,1.6684347978887395,-1.6420694106290714,-1.570795346902641,-0.41472523373882164,0.0],"actuator_force":[0.0009321353827544954,-19.145220242126015,-20.913462384001832,-2.411619120639102,0.0006569972620127373,0.000112322843591528,-0.29337840437568535],"issued_joint_targets_rad":[-1.9855216427501854,-1.6124338492035846,1.6788835829850295,-1.6372433585095592,-1.5707965620216227,-0.41472526529112713],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.280000000000296,"joint_targets_rad":[-1.9855216427501854,-1.6124338492035846,1.6788835829850295,-1.6372433585095592,-1.5707965620216227,-0.41472526529112713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.300000000000285,"qpos":[-1.9855028742938603,-1.6124415621319446,1.6784335472563228,-1.6367296520755987,-1.5707979424559666,-0.4147052275933631,0.0029339294396849825,0.0001563096268985747,0.003193795893410837,-0.0034296181811566628,0.002933926378911663,0.0001562995581803758,0.003198109848014269,-0.0034383304842848733,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-9.643745013347152e-17,2.8111284804831645e-17,-1.0178299507269867e-07],"qvel":[-9.59284454364531e-05,6.193976892535933e-05,0.002287611087460354,-0.0025832466325960385,6.576833393034958e-06,-0.00010120588982530971,-1.6142214842019934e-06,-3.8742246311455334e-08,-1.6052769714361118e-06,1.6180603597884266e-06,-1.6009202099010676e-06,5.5016664934519736e-09,-1.3427637054434804e-06,1.687198294794138e-06,-3.633120197408865e-17,-1.90421694339565e-16,6.927258617238856e-15,-5.7995735873497214e-15,-7.979908333210508e-16,-5.534337829106252e-08],"joint_position_rad":[-1.9855028742938603,-1.6124415621319446,1.6784335472563228,-1.6367296520755987,-1.5707979424559666,-0.4147052275933631],"joint_velocity_rad_s":[-9.59284454364531e-05,6.193976892535933e-05,0.002287611087460354,-0.0025832466325960385,6.576833393034958e-06,-0.00010120588982530971],"linkage_position_rad":[0.0029339294396849825,0.0001563096268985747,0.003193795893410837,-0.0034296181811566628,0.002933926378911663,0.0001562995581803758,0.003198109848014269,-0.0034383304842848733],"tcp_position_m":[0.06811707902259259,0.4872977926999822,0.3059755574951647],"tcp_quaternion_wxyz":[1.137804024181637e-05,0.7071072475223664,0.7071063142416739,-2.7045093921177082e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-9.643745013347152e-17,2.8111284804831645e-17,-1.0178299507269867e-07],"object_linear_velocity_m_s":[-3.633120197408865e-17,-1.90421694339565e-16,6.927258617238856e-15],"object_angular_velocity_rad_s":[-5.7995737529049525e-15,-7.979896633994441e-16,-5.5343378291062606e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313510943093398,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855216421984971,-1.62200126462226,1.6684351664667276,-1.6420698562771177,-1.5707953199593674,-0.414725265366197,0.0],"actuator_force":[0.000835568900583894,-19.144180888200935,-20.911806014174545,-2.411777437499836,0.0006535649603165439,0.00010170256555852575,-0.2933767152213618],"issued_joint_targets_rad":[-1.9855216664791575,-1.612434013460433,1.6788838949107612,-1.6372437461705076,-1.5707965378967892,-0.4147252936845549],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.300000000000285,"joint_targets_rad":[-1.9855216664791575,-1.612434013460433,1.6788838949107612,-1.6372437461705076,-1.5707965378967892,-0.4147252936845549],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.320000000000274,"qpos":[-1.9855046962289342,-1.6124404242574337,1.6784769739322376,-1.6367787230909803,-1.570797814982799,-0.4147071508188591,0.0029338987235063125,0.00015630885002618098,0.00319376536537491,-0.003429587330347829,0.0029338959446450976,0.00015629969621975263,0.0031980846623305055,-0.003438298284768096,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.0944105282131186e-16,1.836561682412254e-17,-1.020935582820034e-07],"qvel":[-8.67214027322926e-05,5.308388311817303e-05,0.0020684155947183923,-0.0023384669783357475,6.09300693970106e-06,-9.163552774172585e-05,-1.4602434450698742e-06,-3.4982895780888706e-08,-1.4523678569697891e-06,1.463361577188036e-06,-1.448223919638727e-06,5.001094517756287e-09,-1.214826105376339e-06,1.5260873552016428e-06,-3.253011614806081e-17,-3.507354236235482e-16,7.035505362139809e-15,-1.6285108283554067e-14,-1.6706371893375528e-16,-1.0104303281584153e-07],"joint_position_rad":[-1.9855046962289342,-1.6124404242574337,1.6784769739322376,-1.6367787230909803,-1.570797814982799,-0.4147071508188591],"joint_velocity_rad_s":[-8.67214027322926e-05,5.308388311817303e-05,0.0020684155947183923,-0.0023384669783357475,6.09300693970106e-06,-9.163552774172585e-05],"linkage_position_rad":[0.0029338987235063125,0.00015630885002618098,0.00319376536537491,-0.003429587330347829,0.0029338959446450976,0.00015629969621975263,0.0031980846623305055,-0.003438298284768096],"tcp_position_m":[0.06811813184556795,0.48729812431289415,0.3059585969569959],"tcp_quaternion_wxyz":[1.0502328358553039e-05,0.7071072117582954,0.7071063500957316,-2.4968017169670147e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.0944105282131186e-16,1.836561682412254e-17,-1.020935582820034e-07],"object_linear_velocity_m_s":[-3.253011614806081e-17,-3.507354236235482e-16,7.035505362139809e-15],"object_angular_velocity_rad_s":[-1.6285108321377445e-14,-1.670604158409601e-16,-1.0104303281584168e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511163106193,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521666029146,-1.6220014291255394,1.66843550197895,-1.6420702590564826,-1.5707952954119402,-0.414725293753827,0.0],"actuator_force":[0.0007489606691706285,-19.143243289458496,-20.910310144462528,-2.4119212849176392,0.0006504847353880905,9.208529024817835e-05,-0.293375191070747],"issued_joint_targets_rad":[-1.985521688058039,-1.6124341647592668,1.6788841793798375,-1.6372440971052413,-1.57079651588926,-0.41472531948301855],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.320000000000274,"joint_targets_rad":[-1.985521688058039,-1.6124341647592668,1.6788841793798375,-1.6372440971052413,-1.57079651588926,-0.41472531948301855],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.340000000000263,"qpos":[-1.9855063433362976,-1.612439450991356,1.6785162397895337,-1.6368231442801007,-1.5707976969284658,-0.4147088921860246,0.0029338709407500225,0.0001563081484717814,0.0031937377506784754,-0.003429559431303456,0.0029338684167193596,0.0001562998217417668,0.003198061881233821,-0.003438269163687025,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.2962518583888098e-16,1.3597739207916683e-17,-1.0247683857390999e-07],"qvel":[-7.839999442557192e-05,4.5350623180609897e-05,0.0018702374700174692,-0.0021168788639739995,5.642372351528123e-06,-8.297058308134117e-05,-1.3206361584702655e-06,-3.158362334005811e-08,-1.3136852346858644e-06,1.3231592013112018e-06,-1.3097776686675609e-06,4.543322958710483e-09,-1.0987908984120682e-06,1.3800438822957842e-06,-1.7477152821374048e-17,-1.5546597659157127e-16,7.050770928728406e-15,4.185665160649797e-15,-7.609923179635235e-16,-1.0947185147282348e-08],"joint_position_rad":[-1.9855063433362976,-1.612439450991356,1.6785162397895337,-1.6368231442801007,-1.5707976969284658,-0.4147088921860246],"joint_velocity_rad_s":[-7.839999442557192e-05,4.5350623180609897e-05,0.0018702374700174692,-0.0021168788639739995,5.642372351528123e-06,-8.297058308134117e-05],"linkage_position_rad":[0.0029338709407500225,0.0001563081484717814,0.0031937377506784754,-0.003429559431303456,0.0029338684167193596,0.0001562998217417668,0.003198061881233821,-0.003438269163687025],"tcp_position_m":[0.06811908487989876,0.4872984286967937,0.30594329299358314],"tcp_quaternion_wxyz":[9.689775895792438e-06,0.7071071784731044,0.7071063834579998,-2.3040412095693818e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.2962518583888098e-16,1.3597739207916683e-17,-1.0247683857390999e-07],"object_linear_velocity_m_s":[-1.7477152821374048e-17,-1.5546597659157127e-16,7.050770928728406e-15],"object_angular_velocity_rad_s":[4.185665004383827e-15,-7.609931786690364e-16,-1.0947185147282365e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511362160692,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855216876909616,-1.6220015796076117,1.668435807669804,-1.64207062400784,-1.5707952730130135,-0.41472531954691594,0.0],"actuator_force":[0.0006712884419357579,-19.142397481783973,-20.908959227466312,-2.412051977472288,0.0006477204910879664,8.337786243828305e-05,-0.2933738158043334],"issued_joint_targets_rad":[-1.98552170674247,-1.6124343013305,1.6788844383747354,-1.6372444171603255,-1.5707964978443438,-0.41472534211963197],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.340000000000263,"joint_targets_rad":[-1.98552170674247,-1.6124343013305,1.6788844383747354,-1.6372444171603255,-1.5707964978443438,-0.41472534211963197],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.360000000000252,"qpos":[-1.9855078323368383,-1.612438621139918,1.6785517437061568,-1.6368633564083703,-1.5707975878281546,-0.41471046882571755,0.0029338458158192837,0.00015630751474261323,0.003193712775248125,-0.003429534205639611,0.0029338435222333926,0.00015629993577160302,0.0031980412801827585,-0.0034382428301662697,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.5200493956176336e-16,2.045500585909735e-17,-1.0296732765627343e-07],"qvel":[-7.087446405928774e-05,3.861919813554062e-05,0.0016910580927596264,-0.0019162963103286045,5.2136416545029386e-06,-7.512166892713912e-05,-1.1941121801603076e-06,-2.8487766172369985e-08,-1.1878208950884967e-06,1.1961657865126488e-06,-1.1843258729729506e-06,4.120598452362796e-09,-9.936875034967958e-07,1.247668314410307e-06,-2.668757997371169e-17,-1.9108313261655353e-16,7.117384310205918e-15,3.464233664241596e-15,-2.520288625158016e-16,-1.9986795570385736e-08],"joint_position_rad":[-1.9855078323368383,-1.612438621139918,1.6785517437061568,-1.6368633564083703,-1.5707975878281546,-0.41471046882571755],"joint_velocity_rad_s":[-7.087446405928774e-05,3.861919813554062e-05,0.0016910580927596264,-0.0019162963103286045,5.2136416545029386e-06,-7.512166892713912e-05],"linkage_position_rad":[0.0029338458158192837,0.00015630751474261323,0.003193712775248125,-0.003429534205639611,0.0029338435222333926,0.00015629993577160302,0.0031980412801827585,-0.0034382428301662697],"tcp_position_m":[0.06811994762265539,0.4872987080733323,0.30592948372632794],"tcp_quaternion_wxyz":[8.936415878629872e-06,0.7071071475227864,0.7071064144742643,-2.125271973225757e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.5200493956176336e-16,2.045500585909735e-17,-1.0296732765627343e-07],"object_linear_velocity_m_s":[-2.668757997371169e-17,-1.9108313261655353e-16,7.117384310205918e-15],"object_angular_velocity_rad_s":[3.4642336115223907e-15,-2.5202958199774553e-16,-1.9986795570385773e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511542208401,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217064430368,-1.622001714500303,1.6684360857569611,-1.642070957050744,-1.5707952546063282,-0.4147253421785497,0.0],"actuator_force":[0.0006015732260493678,-19.14163440002403,-20.90773913549492,-2.412170690153971,0.0006452467476947277,7.549047663246711e-05,-0.29337257471236816],"issued_joint_targets_rad":[-1.985521723647061,-1.6124344250374778,1.678884672499314,-1.6372447053247032,-1.5707964816210036,-0.41472536260856485],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.360000000000252,"joint_targets_rad":[-1.985521723647061,-1.6124344250374778,1.678884672499314,-1.6372447053247032,-1.5707964816210036,-0.41472536260856485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.38000000000024,"qpos":[-1.9855091784260999,-1.612437916033552,1.6785838461714442,-1.6368997581118907,-1.570797487066393,-0.4147118963166727,0.0029338231003213787,0.00015630694271419408,0.003193690194107815,-0.0034295114031789036,0.0029338210148421484,0.00015630003941521852,0.0031980226545208447,-0.00343821902456922,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.5197530646182255e-16,2.998554530138274e-17,-1.0339289819533116e-07],"qvel":[-6.407263526189051e-05,3.276655512116254e-05,0.0015290476782136224,-0.0017347100813454985,4.814810274579441e-06,-6.80152228456171e-05,-1.0794994759091818e-06,-2.5723340825233483e-08,-1.073900190091284e-06,1.0811590052948822e-06,-1.0706515659317656e-06,3.7583413597805936e-09,-8.98231572854357e-07,1.1278247098165984e-06,-4.426430770469345e-17,-2.1434607582277235e-16,7.13681321313686e-15,1.1857988313408352e-15,3.897962840892499e-16,-3.6490841417030337e-08],"joint_position_rad":[-1.9855091784260999,-1.612437916033552,1.6785838461714442,-1.6368997581118907,-1.570797487066393,-0.4147118963166727],"joint_velocity_rad_s":[-6.407263526189051e-05,3.276655512116254e-05,0.0015290476782136224,-0.0017347100813454985,4.814810274579441e-06,-6.80152228456171e-05],"linkage_position_rad":[0.0029338231003213787,0.00015630694271419408,0.003193690194107815,-0.0034295114031789036,0.0029338210148421484,0.00015630003941521852,0.0031980226545208447,-0.00343821902456922],"tcp_position_m":[0.06812072864486657,0.48729896444834786,0.30591702311603475],"tcp_quaternion_wxyz":[8.238431808847581e-06,0.7071071187726795,0.7071064432807305,-1.9595975178055617e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.5197530646182255e-16,2.998554530138274e-17,-1.0339289819533116e-07],"object_linear_velocity_m_s":[-4.426430770469345e-17,-2.1434607582277235e-16,7.13681321313686e-15],"object_angular_velocity_rad_s":[1.1857989097567505e-15,3.8979602779147323e-16,-3.64908414170304e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351170502149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217234028049,-1.622001835840545,1.6684363370565425,-1.6420712572423515,-1.5707952380488432,-0.41472536266287174,0.0],"actuator_force":[0.0005391006948229915,-19.140946236034324,-20.906637301089177,-2.412278557095874,0.0006430277474009927,6.834918505660426e-05,-0.29337145500296713],"issued_joint_targets_rad":[-1.9855217389664206,-1.612434538130486,1.678884885356014,-1.6372449658903119,-1.5707964669156516,-0.41472538117202445],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.38000000000024,"joint_targets_rad":[-1.9855217389664206,-1.612434538130486,1.678884885356014,-1.6372449658903119,-1.5707964669156516,-0.41472538117202445],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.40000000000023,"qpos":[-1.9855103953523872,-1.6124373193732962,1.6786128732213956,-1.6369327103811853,-1.5707973940446658,-0.4147131887693528,0.0029338025670186804,0.00015630642617213788,0.0031936697811058043,-0.003429490794552571,0.0029338006696885146,0.0001563001337380677,0.0031980058202498,-0.003438197507468667,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-1.1581649578371392e-16,3.105423989895543e-17,-1.0378402508045672e-07],"qvel":[-5.7924862732930915e-05,2.7680677372300956e-05,0.0013825663848158062,-0.001570327189121042,4.4446731974743216e-06,-6.158109850811136e-05,-9.757046310817247e-07,-2.3223506519286318e-08,-9.707461828116466e-07,9.770203854642364e-07,-9.677094765060125e-07,3.41995562174749e-09,-8.118152446123723e-07,1.0193241749570995e-06,-5.9637360311818e-17,-1.646833530425237e-16,7.138200991917642e-15,3.0121526745278263e-15,1.0473530678791398e-15,-6.662306134235508e-08],"joint_position_rad":[-1.9855103953523872,-1.6124373193732962,1.6786128732213956,-1.6369327103811853,-1.5707973940446658,-0.4147131887693528],"joint_velocity_rad_s":[-5.7924862732930915e-05,2.7680677372300956e-05,0.0013825663848158062,-0.001570327189121042,4.4446731974743216e-06,-6.158109850811136e-05],"linkage_position_rad":[0.0029338025670186804,0.00015630642617213788,0.0031936697811058043,-0.003429490794552571,0.0029338006696885146,0.0001563001337380677,0.0031980058202498,-0.003438197507468667],"tcp_position_m":[0.06812143569649036,0.4872991996521664,0.30590577940520985],"tcp_quaternion_wxyz":[7.592164209914786e-06,0.7071070920954522,0.707106470006074,-1.8061593248127623e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-1.1581649578371392e-16,3.105423989895543e-17,-1.0378402508045672e-07],"object_linear_velocity_m_s":[-5.9637360311818e-17,-1.646833530425237e-16,7.138200991917642e-15],"object_angular_velocity_rad_s":[3.0121528877869428e-15,1.0473524272203631e-15,-6.662306134235522e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511852203345,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217387671715,-1.6220019460249717,1.6684365653622741,-1.6420715289393957,-1.5707952230349922,-0.41472538122206437,0.0],"actuator_force":[0.00048311552473023767,-19.140325574299823,-20.90564227216919,-2.412376560193138,0.000641037516970755,6.188349505009683e-05,-0.2933704447648218],"issued_joint_targets_rad":[-1.9855217528019575,-1.6124346417565387,1.6788850795386037,-1.6372452028560285,-1.5707964536344718,-0.41472539794809526],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.40000000000023,"joint_targets_rad":[-1.9855217528019575,-1.6124346417565387,1.6788850795386037,-1.6372452028560285,-1.5707964536344718,-0.41472539794809526],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.420000000000218,"qpos":[-1.9855114955302027,-1.6124368168796135,1.6786391196891923,-1.6369625401422288,-1.5707973082066955,-0.4147143589553467,0.00293378400936261,0.00015630595970818467,0.0031936513309260817,-0.003429472171675983,0.0029337822821295747,0.0001563002195283473,0.0031979906081187224,-0.003438178061528872,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-7.263961804620891e-17,2.6473398154847948e-17,-1.0403674222173206e-07],"qvel":[-5.2367855984162276e-05,2.3267070649800323e-05,0.0012501279506425688,-0.0014215244075653187,4.101167868582612e-06,-5.5755487158539315e-05,-8.817426769029997e-07,-2.0960751047328887e-08,-8.773417718982106e-07,8.82773315565366e-07,-8.745241221189736e-07,3.105131942891889e-09,-7.336211992643751e-07,9.211153180013127e-07,-3.211126353456966e-17,-9.501690050594927e-17,6.234757005628919e-15,4.377441562000294e-15,-1.2596490574308234e-15,-7.2180631090382195e-09],"joint_position_rad":[-1.9855114955302027,-1.6124368168796135,1.6786391196891923,-1.6369625401422288,-1.5707973082066955,-0.4147143589553467],"joint_velocity_rad_s":[-5.2367855984162276e-05,2.3267070649800323e-05,0.0012501279506425688,-0.0014215244075653187,4.101167868582612e-06,-5.5755487158539315e-05],"linkage_position_rad":[0.00293378400936261,0.00015630595970818467,0.0031936513309260817,-0.003429472171675983,0.0029337822821295747,0.0001563002195283473,0.0031979906081187224,-0.003438178061528872],"tcp_position_m":[0.06812207579069571,0.4872994153817475,0.30589563371298034],"tcp_quaternion_wxyz":[6.994126107727199e-06,0.7071070673654721,0.7071064947770934,-1.664137354746634e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-7.263961804620891e-17,2.6473398154847948e-17,-1.0403674222173206e-07],"object_linear_velocity_m_s":[-3.211126353456966e-17,-9.501690050594927e-17,6.234757005628919e-15],"object_angular_velocity_rad_s":[4.377441299518467e-15,-1.259649969308952e-15,-7.2180631090382336e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313511985227757,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217526394202,-1.6220020463245484,1.6684367734402632,-1.6420717762022392,-1.570795209469117,-0.4147253979941884,0.0],"actuator_force":[0.0004329239586695621,-19.139765718130093,-20.90474367811521,-2.4124655892486544,0.0006392520024292025,5.602929502401821e-05,-0.2933695332406141],"issued_joint_targets_rad":[-1.9855217653023767,-1.612434740121602,1.6788852631132132,-1.637245428983887,-1.5707964414551543,-0.41472541311025557],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.420000000000218,"joint_targets_rad":[-1.9855217653023767,-1.612434740121602,1.6788852631132132,-1.637245428983887,-1.5707964414551543,-0.41472541311025557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.440000000000207,"qpos":[-1.9855124901928891,-1.6124363963025572,1.678662852715188,-1.6369895443128946,-1.570797229015028,-0.4147154184385372,0.0029337672391557264,0.00015630553832253328,0.0031936346566882037,-0.003429455344967272,0.0029337656658861722,0.00015630029774749637,0.0031979768656193457,-0.0034381604889048064,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999956,-4.509957827189477e-17,4.011016136614485e-17,-1.0449813990267481e-07],"qvel":[-4.7344721214580434e-05,1.9428045880559596e-05,0.0011304148269674406,-0.0012868734305119135,3.7834262798324252e-06,-5.0480858392083235e-05,-7.96671847093423e-07,-1.886705952247259e-08,-7.927164888152067e-07,7.974268123402105e-07,-7.901969733477122e-07,2.7717033653289543e-09,-6.632522537123132e-07,8.321225754183443e-07,-4.809428008569582e-17,-6.225791410446715e-17,5.492295357910846e-15,2.5868909725718376e-15,-9.557347333270055e-16,-1.3178360449166962e-08],"joint_position_rad":[-1.9855124901928891,-1.6124363963025572,1.678662852715188,-1.6369895443128946,-1.570797229015028,-0.4147154184385372],"joint_velocity_rad_s":[-4.7344721214580434e-05,1.9428045880559596e-05,0.0011304148269674406,-0.0012868734305119135,3.7834262798324252e-06,-5.0480858392083235e-05],"linkage_position_rad":[0.0029337672391557264,0.00015630553832253328,0.0031936346566882037,-0.003429455344967272,0.0029337656658861722,0.00015630029774749637,0.0031979768656193457,-0.0034381604889048064],"tcp_position_m":[0.06812265529406632,0.4872996132411236,0.30588647872126973],"tcp_quaternion_wxyz":[6.4408912592238405e-06,0.7071070444664127,0.7071065177111326,-1.5327245321580196e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999956,-4.509957827189477e-17,4.011016136614485e-17,-1.0449813990267481e-07],"object_linear_velocity_m_s":[-4.809428008569582e-17,-6.225791410446715e-17,5.492295357910846e-15],"object_angular_velocity_rad_s":[2.58689077176961e-15,-9.557352751662531e-16,-1.3178360449166988e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512105423212,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217651697814,-1.6220021410451593,1.6684369695115886,-1.642072011852931,-1.5707951970271314,-0.41472541315269895,0.0],"actuator_force":[0.0003879347009387857,-19.13926070355683,-20.90393233798568,-2.412546426967083,0.0006376513202894785,5.0728758338891566e-05,-0.29336871090799277],"issued_joint_targets_rad":[-1.985521776671915,-1.6124348337879642,1.6788854358118905,-1.6372456420960866,-1.570796430377625,-0.41472542689222686],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.440000000000207,"joint_targets_rad":[-1.985521776671915,-1.6124348337879642,1.6788854358118905,-1.6372456420960866,-1.570796430377625,-0.41472542689222686],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.460000000000196,"qpos":[-1.9855133894817805,-1.6124360469200782,1.6786843136855996,-1.6370139913279949,-1.5707971559774032,-0.4147163776965226,0.0029337520870949007,0.0001563051579856358,0.0031936195906603153,-0.0034294401441733705,0.0029337506528753746,0.00015630036877680635,0.00319796445049406,-0.00343814461256642,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-2.7556985781057837e-17,6.304168371207739e-17,-1.0496170399019661e-07],"qvel":[-4.280436943681591e-05,1.6093068150973844e-05,0.0010221981214091661,-0.001165013825131519,3.4891958819136455e-06,-4.570547298167972e-05,-7.197067267608541e-07,-1.699066640388219e-08,-7.161814588980491e-07,7.202413961699753e-07,-7.138942751532501e-07,2.4735980288396363e-09,-5.995110089763188e-07,7.516539883856588e-07,-8.12749359887972e-17,-3.81343277425306e-17,5.8336889379830804e-15,1.471147561803422e-15,-4.661501209013318e-16,-2.406035822969113e-08],"joint_position_rad":[-1.9855133894817805,-1.6124360469200782,1.6786843136855996,-1.6370139913279949,-1.5707971559774032,-0.4147163776965226],"joint_velocity_rad_s":[-4.280436943681591e-05,1.6093068150973844e-05,0.0010221981214091661,-0.001165013825131519,3.4891958819136455e-06,-4.570547298167972e-05],"linkage_position_rad":[0.0029337520870949007,0.0001563051579856358,0.0031936195906603153,-0.0034294401441733705,0.0029337506528753746,0.00015630036877680635,0.00319796445049406,-0.00343814461256642],"tcp_position_m":[0.06812317994402498,0.48729979465951245,0.30587821763731016],"tcp_quaternion_wxyz":[5.929272201564245e-06,0.7071070232798488,0.7071065389274905,-1.4111689281061375e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-2.7556985781057837e-17,6.304168371207739e-17,-1.0496170399019661e-07],"object_linear_velocity_m_s":[-8.12749359887972e-17,-3.81343277425306e-17,5.8336889379830804e-15],"object_angular_velocity_rad_s":[1.4711474609139562e-15,-4.661504310556929e-16,-2.4060358229691125e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351221402624,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521776563742,-1.6220022308325546,1.6684371534479459,-1.642072233769523,-1.5707951857073297,-0.41472542693129616,0.0],"actuator_force":[0.0003475838511803886,-19.138805052212774,-20.90319972387124,-2.4126198382509756,0.0006362154485941574,4.59299113799716e-05,-0.2933679689935042],"issued_joint_targets_rad":[-1.985521786941037,-1.6124349192225036,1.6788855925573498,-1.637245835280574,-1.5707964204002338,-0.4147254393428476],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.460000000000196,"joint_targets_rad":[-1.985521786941037,-1.6124349192225036,1.6788855925573498,-1.637245835280574,-1.5707964204002338,-0.4147254393428476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.480000000000185,"qpos":[-1.985514202537124,-1.6124357590043075,1.6787037202275494,-1.6370361233588304,-1.5707970886452804,-0.4147172462081572,0.0029337383992433168,0.00015630481471588884,0.0031936059796237675,-0.0034294264141543286,0.0029337370904757515,0.00015630043303663517,0.0031979532351813266,-0.0034381302705469756,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-2.4908537568712462e-17,7.156814426530755e-17,-1.0541124195777096e-07],"qvel":[-3.869997550611497e-05,1.321845460177546e-05,0.0009243453123361964,-0.0010546934357845076,3.2164465168326567e-06,-4.138170239598267e-05,-6.501340267115388e-07,-1.534121781416137e-08,-6.469967620276622e-07,6.505430398357916e-07,-6.448841421800296e-07,2.243941306005117e-09,-5.41487515972168e-07,6.790044725477092e-07,-1.0675990331711142e-16,-4.029316607394345e-17,6.193123642205476e-15,-2.3890777757500112e-16,5.312115004274277e-16,-4.3928138130230573e-08],"joint_position_rad":[-1.985514202537124,-1.6124357590043075,1.6787037202275494,-1.6370361233588304,-1.5707970886452804,-0.4147172462081572],"joint_velocity_rad_s":[-3.869997550611497e-05,1.321845460177546e-05,0.0009243453123361964,-0.0010546934357845076,3.2164465168326567e-06,-4.138170239598267e-05],"linkage_position_rad":[0.0029337383992433168,0.00015630481471588884,0.0031936059796237675,-0.0034294264141543286,0.0029337370904757515,0.00015630043303663517,0.0031979532351813266,-0.0034381302705469756],"tcp_position_m":[0.06812365492729582,0.4872999609636658,0.3058707631828128],"tcp_quaternion_wxyz":[5.456375540830312e-06,0.7071070036864591,0.7071065585462353,-1.2987881984140078e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-2.4908537568712462e-17,7.156814426530755e-17,-1.0541124195777096e-07],"object_linear_velocity_m_s":[-1.0675990331711142e-16,-4.029316607394345e-17,6.193123642205476e-15],"object_angular_velocity_rad_s":[-2.389076718713787e-16,5.312115486061764e-16,-4.3928138130230573e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512312147927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217868527875,-1.6220023122299991,1.6684373202981222,-1.6420724350905753,-1.5707951755065754,-0.41472543937879897,0.0],"actuator_force":[0.00031135887547861785,-19.1383938332242,-20.90253798378899,-2.4126865222940523,0.000634924700875672,4.1584918704984375e-05,-0.2933672993951089],"issued_joint_targets_rad":[-1.9855217962289051,-1.6124349967761262,1.6788857343910149,-1.637246009951282,-1.5707964114017279,-0.41472545060436933],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.480000000000185,"joint_targets_rad":[-1.9855217962289051,-1.6124349967761262,1.6788857343910149,-1.637246009951282,-1.5707964114017279,-0.41472545060436933],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.500000000000174,"qpos":[-1.9855149376392973,-1.6124355239559938,1.6787212690488353,-1.637056159573942,-1.5707970265982556,-0.4147180325569373,0.0029337260352239893,0.00015630450471315393,0.0031935936842228405,-0.0034294140134349524,0.002933724839844695,0.0001563004914129057,0.003197943107080995,-0.003438117315392793,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-3.1470175636465966e-17,5.585949163186697e-17,-1.0575750310133705e-07],"qvel":[-3.49898050111058e-05,1.0748672978579345e-05,0.0008358616203663757,-0.0009548174821803096,2.9638151686465393e-06,-3.74669116543212e-05,-5.872310428056624e-07,-1.3853963768516179e-08,-5.84434822046913e-07,5.875340577474097e-07,-5.824860031516248e-07,2.0418246837350808e-09,-4.88973927086618e-07,6.133228173451437e-07,-8.339155998531367e-17,-9.451262156610628e-17,6.279165926613928e-15,-4.420960009557886e-15,-1.3427849595337755e-15,-8.020168698932776e-08],"joint_position_rad":[-1.9855149376392973,-1.6124355239559938,1.6787212690488353,-1.637056159573942,-1.5707970265982556,-0.4147180325569373],"joint_velocity_rad_s":[-3.49898050111058e-05,1.0748672978579345e-05,0.0008358616203663757,-0.0009548174821803096,2.9638151686465393e-06,-3.74669116543212e-05],"linkage_position_rad":[0.0029337260352239893,0.00015630450471315393,0.0031935936842228405,-0.0034294140134349524,0.002933724839844695,0.0001563004914129057,0.003197943107080995,-0.003438117315392793],"tcp_position_m":[0.06812408495223721,0.48730011338615453,0.3058640365887565],"tcp_quaternion_wxyz":[5.01949406398805e-06,0.7071069855794141,0.7071065766748383,-1.1949439823252871e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-3.1470175636465966e-17,5.585949163186697e-17,-1.0575750310133705e-07],"object_linear_velocity_m_s":[-8.339155998531367e-17,-9.451262156610628e-17,6.279165926613928e-15],"object_angular_velocity_rad_s":[-4.420960302537008e-15,-1.342784029482283e-15,-8.020168698932776e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512400769892,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855217961569087,-1.6220023856543735,1.6684374712171897,-1.6420726172771303,-1.5707951663022242,-0.41472545063744076,0.0],"actuator_force":[0.00027888678187082405,-19.13802286595046,-20.901940311438466,-2.412747103376205,0.0006337664989359837,3.765091369700713e-05,-0.2933666951682044],"issued_joint_targets_rad":[-1.9855218046312844,-1.612435067131795,1.6788858627017123,-1.6372461678621748,-1.5707964032824606,-0.41472546079257583],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.500000000000174,"joint_targets_rad":[-1.9855218046312844,-1.612435067131795,1.6788858627017123,-1.6372461678621748,-1.5707964032824606,-0.41472546079257583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.520000000000163,"qpos":[-1.9855156022751042,-1.6124353342504842,1.678737138015863,-1.637074298393098,-1.5707969694436175,-0.41471874451484225,0.0029337148680565863,0.00015630422475495706,0.0031935825783783946,-0.003429402814383701,0.0029337137751752466,0.00015630054448439334,0.0031979339621536922,-0.0034381056140431582,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-3.651350116905718e-17,3.607153925301932e-17,-1.0606172720411802e-07],"qvel":[-3.163595935131158e-05,8.632638225537931e-06,0.0007558496939427672,-0.0008643972656770288,2.7299753776339564e-06,-3.392243106968984e-05,-5.303650439377689e-07,-1.2510662619411107e-08,-5.278726484549909e-07,5.305798326914302e-07,-5.260762050444544e-07,1.8585910098087402e-09,-4.41499290396577e-07,5.539466817056055e-07,-4.6921721152358493e-17,-4.3411951263433506e-17,6.3596570958992535e-15,1.4711800014618673e-15,-1.9894594579082516e-15,-8.689196000250274e-09],"joint_position_rad":[-1.9855156022751042,-1.6124353342504842,1.678737138015863,-1.637074298393098,-1.5707969694436175,-0.41471874451484225],"joint_velocity_rad_s":[-3.163595935131158e-05,8.632638225537931e-06,0.0007558496939427672,-0.0008643972656770288,2.7299753776339564e-06,-3.392243106968984e-05],"linkage_position_rad":[0.0029337148680565863,0.00015630422475495706,0.0031935825783783946,-0.003429402814383701,0.0029337137751752466,0.00015630054448439334,0.0031979339621536922,-0.0034381056140431582],"tcp_position_m":[0.0681244742815514,0.48730025306206304,0.3058579667744854],"tcp_quaternion_wxyz":[4.616084408123751e-06,0.7071069688581816,0.7071065934143858,-1.0990362240194365e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-3.651350116905718e-17,3.607153925301932e-17,-1.0606172720411802e-07],"object_linear_velocity_m_s":[-4.6921721152358493e-17,-4.3411951263433506e-17,6.3596570958992535e-15],"object_angular_velocity_rad_s":[1.4711795788239566e-15,-1.989459770614537e-15,-8.689196000250276e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351248079994,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218045725471,-1.6220024518437188,1.6684376076963274,-1.6420727821273016,-1.5707951579933292,-0.4147254608229885,0.0],"actuator_force":[0.0002497888544894522,-19.137688241759406,-20.901400516648664,-2.4128021405340405,0.0006327276063302634,3.4089033817963355e-05,-0.29336614995534677],"issued_joint_targets_rad":[-1.9855218122333769,-1.6124351309415328,1.678885978779093,-1.6372463106311823,-1.5707963959540627,-0.4147254700106588],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.520000000000163,"joint_targets_rad":[-1.9855218122333769,-1.6124351309415328,1.678885978779093,-1.6372463106311823,-1.5707963959540627,-0.4147254700106588],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.540000000000152,"qpos":[-1.9855162032113947,-1.612435183320949,1.6787514879622676,-1.6370907194560183,-1.5707969168149774,-0.4147193891188488,0.0029337047827681464,0.00015630397193046777,0.0031935725478855325,-0.003429392701408058,0.0029337037825405755,0.00015630059273555267,0.0031979257058734954,-0.003438095045995131,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-4.130148340030138e-17,1.7603057883863467e-17,-1.0655553727434204e-07],"qvel":[-2.8604161749095796e-05,6.825136475332327e-06,0.0006834982650393019,-0.0007825378223039644,2.513665459028749e-06,-3.071323971117573e-05,-4.789652795912729e-07,-1.1297555238692811e-08,-4.767442438375634e-07,4.791074760206893e-07,-4.750887840432921e-07,1.691831324363115e-09,-3.9859302437650163e-07,5.002801577696619e-07,-2.4119646953114717e-17,-5.085362770562853e-17,6.374922662487851e-15,1.2844292139950007e-15,-1.193728483492258e-15,-1.5864277601180994e-08],"joint_position_rad":[-1.9855162032113947,-1.612435183320949,1.6787514879622676,-1.6370907194560183,-1.5707969168149774,-0.4147193891188488],"joint_velocity_rad_s":[-2.8604161749095796e-05,6.825136475332327e-06,0.0006834982650393019,-0.0007825378223039644,2.513665459028749e-06,-3.071323971117573e-05],"linkage_position_rad":[0.0029337047827681464,0.00015630397193046777,0.0031935725478855325,-0.003429392701408058,0.0029337037825405755,0.00015630059273555267,0.0031979257058734954,-0.003438095045995131],"tcp_position_m":[0.06812482677294117,0.48730038103572165,0.30585248960087164],"tcp_quaternion_wxyz":[4.243758556264318e-06,0.7071069534275082,0.7071066088606065,-1.0105011789974205e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-4.130148340030138e-17,1.7603057883863467e-17,-1.0655553727434204e-07],"object_linear_velocity_m_s":[-2.4119646953114717e-17,-5.085362770562853e-17,6.374922662487851e-15],"object_angular_velocity_rad_s":[1.2844289590396922e-15,-1.1937287585287576e-15,-1.5864277601180997e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512553062767,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218121854568,-1.6220025114954695,1.6684377311173355,-1.642072931300392,-1.5707951504903084,-0.41472547003861787,0.0],"actuator_force":[0.00022371657541953027,-19.137386403631353,-20.900912995879935,-2.412852139956499,0.0006317957886494696,3.0864086596693596e-05,-0.2933656579951179],"issued_joint_targets_rad":[-1.9855218191119839,-1.61243518880287,1.678886083792007,-1.6372464397207371,-1.5707963893374925,-0.4147254783516619],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.540000000000152,"joint_targets_rad":[-1.9855218191119839,-1.61243518880287,1.678886083792007,-1.6372464397207371,-1.5707963893374925,-0.4147254783516619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.56000000000014,"qpos":[-1.9855167465641184,-1.6124350654450286,1.678764464320386,-1.6371055853996266,-1.5707968683709008,-0.41471997274039824,0.0029336956752715948,0.00015630374360942723,0.003193563489344157,-0.0034293835698719077,0.00293369475879907,0.00015630063660272968,0.0031979182526197386,-0.0034380855021729313,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-2.2589881170061104e-17,-1.8119484666409326e-18,-1.0699126770082229e-07],"qvel":[-2.5863434765595578e-05,5.2863518960044544e-06,0.0006180737743966516,-0.0007084288746003335,2.3136892707690087e-06,-2.78076268592169e-05,-4.3251362093265993e-07,-1.0202027517640803e-08,-4.3053468038265297e-07,4.3259693234604074e-07,-4.2900983273193115e-07,1.540016676309233e-09,-3.5982308628329014e-07,4.517810522120581e-07,1.87736390403308e-18,-3.1467311640390154e-17,6.31386039613347e-15,1.5533957311483144e-15,-1.2912179589356879e-15,-2.8964164670709692e-08],"joint_position_rad":[-1.9855167465641184,-1.6124350654450286,1.678764464320386,-1.6371055853996266,-1.5707968683709008,-0.41471997274039824],"joint_velocity_rad_s":[-2.5863434765595578e-05,5.2863518960044544e-06,0.0006180737743966516,-0.0007084288746003335,2.3136892707690087e-06,-2.78076268592169e-05],"linkage_position_rad":[0.0029336956752715948,0.00015630374360942723,0.003193563489344157,-0.0034293835698719077,0.00293369475879907,0.00015630063660272968,0.0031979182526197386,-0.0034380855021729313],"tcp_position_m":[0.06812514591757134,0.4873004982678079,0.3058475471929834],"tcp_quaternion_wxyz":[3.9002773126497035e-06,0.707106939197279,0.7071066231040223,-9.288099281462481e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-2.2589881170061104e-17,-1.8119484666409326e-18,-1.0699126770082229e-07],"object_linear_velocity_m_s":[1.87736390403308e-18,-3.1467311640390154e-17,6.31386039613347e-15],"object_angular_velocity_rad_s":[1.5533954549551497e-15,-1.2912182926438098e-15,-2.8964164670709705e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135126183055,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218190728883,-1.6220025652442123,1.6684378427320126,-1.6420730662975678,-1.570795143712989,-0.4147254783773577,0.0],"actuator_force":[0.00020035636634929688,-19.13711413912597,-20.90047268650551,-2.41289756151059,0.0006309600287295325,2.794420620944038e-05,-0.2933652140862649],"issued_joint_targets_rad":[-1.9855218253364313,-1.6124352412610494,1.6788861787975538,-1.6372465564505758,-1.5707963833619443,-0.41472548589958286],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.56000000000014,"joint_targets_rad":[-1.9855218253364313,-1.6124352412610494,1.6788861787975538,-1.6372465564505758,-1.5707963833619443,-0.41472548589958286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.58000000000013,"qpos":[-1.9855172378610035,-1.6124349756433596,1.6787761985963046,-1.6371190434667526,-1.5707968237935521,-0.41472050114831616,0.002933687451362424,0.00015630353741633964,0.003193555309165122,-0.0034293753250953457,0.002933686610600889,0.00015630067648268576,0.0031979115248881563,-0.0034380768838713676,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-1.4938837182936038e-17,-1.5554262469594713e-17,-1.0740430761471782e-07],"qvel":[-2.338578507150735e-05,3.981267016378509e-06,0.0005589129190493588,-0.0006413368083772332,2.1289157999977734e-06,-2.5176879773346023e-05,-3.9053977197518905e-07,-9.212708674275678e-09,-3.8877689468275935e-07,3.905752438417058e-07,-3.873728655534332e-07,1.4017798447460782e-09,-3.2479683974533904e-07,4.0795762227252646e-07,3.032771004626722e-17,-4.0959206421160875e-17,6.151490278782042e-15,1.927203213980923e-16,-1.4031051331702266e-15,-5.2881250326173266e-08],"joint_position_rad":[-1.9855172378610035,-1.6124349756433596,1.6787761985963046,-1.6371190434667526,-1.5707968237935521,-0.41472050114831616],"joint_velocity_rad_s":[-2.338578507150735e-05,3.981267016378509e-06,0.0005589129190493588,-0.0006413368083772332,2.1289157999977734e-06,-2.5176879773346023e-05],"linkage_position_rad":[0.002933687451362424,0.00015630353741633964,0.003193555309165122,-0.0034293753250953457,0.002933686610600889,0.00015630067648268576,0.0031979115248881563,-0.0034380768838713676],"tcp_position_m":[0.06812543487500511,0.48730060564192856,0.3058430873283624],"tcp_quaternion_wxyz":[3.583543829201681e-06,0.7071069260824381,0.7071066362300402,-8.53466903125702e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-1.4938837182936038e-17,-1.5554262469594713e-17,-1.0740430761471782e-07],"object_linear_velocity_m_s":[3.032771004626722e-17,-4.0959206421160875e-17,6.151490278782042e-15],"object_angular_velocity_rad_s":[1.927200216440748e-16,-1.4031051761481491e-15,-5.288125032617329e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512677204643,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218253045348,-1.6220026136650634,1.6684379436721157,-1.6420731884747908,-1.5707951375895128,-0.4147254859231918,0.0],"actuator_force":[0.0001794269664969761,-19.136868550213876,-20.900075015997118,-2.4129388231814346,0.0006302104396809227,2.530053950522415e-05,-0.293364813534978],"issued_joint_targets_rad":[-1.985521830969321,-1.6124352888130313,1.6788862647515492,-1.637246662011647,-1.5707963779639347,-0.41472549273027876],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.58000000000013,"joint_targets_rad":[-1.985521830969321,-1.6124352888130313,1.6788862647515492,-1.637246662011647,-1.5707963779639347,-0.41472549273027876],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.600000000000119,"qpos":[-1.9855176820982179,-1.6124349095896613,1.6787868097036067,-1.6371312269626677,-1.5707967827873606,-0.4147209795657892,0.0029336800258041515,0.00015630335120614825,0.0031935479226624717,-0.003429367881429228,0.002933679253482121,0.0001563007127364111,0.003197905452546201,-0.0034380691017980042,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-1.09791208506244e-17,-2.0408663813732028e-17,-1.077010544220228e-07],"qvel":[-2.114591588982284e-05,2.879111906508039e-06,0.0005054159218287709,-0.0005805974219458636,1.958278203042997e-06,-2.2795000489964183e-05,-3.526170220355185e-07,-8.31929686385856e-09,-3.5104696140149166e-07,3.526142532199086e-07,-3.497546130699832e-07,1.2759216928039081e-09,-2.9315772327851064e-07,3.6836383944484413e-07,7.1321854046081e-17,-4.409713365085322e-17,6.118183588043287e-15,-1.4889681187964611e-15,-3.594026678043172e-15,-9.654780891670087e-08],"joint_position_rad":[-1.9855176820982179,-1.6124349095896613,1.6787868097036067,-1.6371312269626677,-1.5707967827873606,-0.4147209795657892],"joint_velocity_rad_s":[-2.114591588982284e-05,2.879111906508039e-06,0.0005054159218287709,-0.0005805974219458636,1.958278203042997e-06,-2.2795000489964183e-05],"linkage_position_rad":[0.0029336800258041515,0.00015630335120614825,0.0031935479226624717,-0.003429367881429228,0.002933679253482121,0.0001563007127364111,0.003197905452546201,-0.0034380691017980042],"tcp_position_m":[0.06812569650480693,0.4873007039706752,0.30583906288498236],"tcp_quaternion_wxyz":[3.2915970202753973e-06,0.7071069140028805,0.707106648319064,-7.840083789044065e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-1.09791208506244e-17,-2.0408663813732028e-17,-1.077010544220228e-07],"object_linear_velocity_m_s":[7.1321854046081e-17,-4.409713365085322e-17,6.118183588043287e-15],"object_angular_velocity_rad_s":[-1.4889688890165299e-15,-3.594026359436238e-15,-9.654780891670091e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512730372492,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218309432978,-1.6220026572787047,1.6684380349606476,-1.642073299056852,-1.5707951320554177,-0.41472549275196435,0.0],"actuator_force":[0.00016067619617388118,-19.136647022849047,-20.899715854649457,-2.4129763048975974,0.000629538151088127,2.2906961419266736e-05,-0.29336445210613804],"issued_joint_targets_rad":[-1.985521836067196,-1.6124353319114253,1.6788863425182017,-1.6372467574788445,-1.570796373086501,-0.41472549891227245],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.600000000000119,"joint_targets_rad":[-1.985521836067196,-1.6124353319114253,1.6788863425182017,-1.6372467574788445,-1.570796373086501,-0.41472549891227245],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.620000000000108,"qpos":[-1.9855180837915662,-1.6124348635311905,1.678796405169364,-1.637142256573879,-1.57079674507772,-0.4147214127219584,0.002933673321494078,0.00015630318304162875,0.0031935412532280477,-0.0034293611614113814,0.0029336726110384677,0.0001563007456923575,0.0031978999721526073,-0.003438062075188991,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-1.1269935063572912e-17,-2.7315515316000274e-17,-1.0806728325891827e-07],"qvel":[-1.912096692252345e-05,1.9528728362379414e-06,0.0004570404463625641,-0.0005256093618595132,1.8007723854806144e-06,-2.0638449307792735e-05,-3.1835844941439047e-07,-7.51252090004177e-09,-3.1696046479481923e-07,3.183250908540077e-07,-3.1577126551117005e-07,1.1613133509446403e-09,-2.6458228072423394e-07,3.3259532530103846e-07,3.0836214139537657e-17,-1.5582621763203937e-17,6.077938003400626e-15,5.250983720126911e-16,6.501175620341264e-16,-1.0460164449951783e-08],"joint_position_rad":[-1.9855180837915662,-1.6124348635311905,1.678796405169364,-1.637142256573879,-1.57079674507772,-0.4147214127219584],"joint_velocity_rad_s":[-1.912096692252345e-05,1.9528728362379414e-06,0.0004570404463625641,-0.0005256093618595132,1.8007723854806144e-06,-2.0638449307792735e-05],"linkage_position_rad":[0.002933673321494078,0.00015630318304162875,0.0031935412532280477,-0.0034293611614113814,0.0029336726110384677,0.0001563007456923575,0.0031978999721526073,-0.003438062075188991],"tcp_position_m":[0.06812593339511623,0.4873007940012084,0.3058354313430943],"tcp_quaternion_wxyz":[3.0226049230224432e-06,0.7071069028833156,0.707106659446641,-7.200009476332164e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-1.1269935063572912e-17,-2.7315515316000274e-17,-1.0806728325891827e-07],"object_linear_velocity_m_s":[3.0836214139537657e-17,-1.5582621763203937e-17,6.077938003400626e-15],"object_angular_velocity_rad_s":[5.2509851309700625e-16,6.501174483064318e-16,-1.046016444995179e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512778363041,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218360459643,-1.622002696556216,1.668438117522272,-1.6420733991502316,-1.570795127052831,-0.41472549893218597,0.0],"actuator_force":[0.00014387797273229808,-19.136447199185568,-20.89939147272935,-2.4130103519903514,0.0006289352060093734,2.073981698913485e-05,-0.2933641259780526],"issued_joint_targets_rad":[-1.9855218406811395,-1.6124353709681827,1.6788864128789094,-1.6372468438225032,-1.5707963686784925,-0.41472550450747564],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.620000000000108,"joint_targets_rad":[-1.9855218406811395,-1.6124353709681827,1.6788864128789094,-1.6372468438225032,-1.5707963686784925,-0.41472550450747564],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.640000000000096,"qpos":[-1.9855184470227545,-1.6124348342184402,1.6788050822246163,-1.6371522415621986,-1.5707967104097187,-0.41472180489863725,0.002933667268703284,0.0001563030311735418,0.003193535231574787,-0.0034293550950022463,0.002933666614172321,0.00015630077564935955,0.0031978950263334893,-0.003438055731014742,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,5.234353005720469e-19,-6.118768081792604e-17,-1.085359513588363e-07],"qvel":[-1.729027934189309e-05,1.1788555718452848e-06,0.00041329609518494614,-0.0004758281792526584,1.6554551487813318e-06,-1.8685912480768172e-05,-2.874133285444277e-07,-6.7839627889318075e-09,-2.8616879728755154e-07,2.873561472027519e-07,-2.850749086224343e-07,1.0569875108776715e-09,-2.387770549809799e-07,3.002857845869888e-07,7.567487553515948e-17,-1.3618979730901556e-18,6.012712400703898e-15,4.848648696726477e-16,3.3839966356080497e-16,-1.9097618765102207e-08],"joint_position_rad":[-1.9855184470227545,-1.6124348342184402,1.6788050822246163,-1.6371522415621986,-1.5707967104097187,-0.41472180489863725],"joint_velocity_rad_s":[-1.729027934189309e-05,1.1788555718452848e-06,0.00041329609518494614,-0.0004758281792526584,1.6554551487813318e-06,-1.8685912480768172e-05],"linkage_position_rad":[0.002933667268703284,0.0001563030311735418,0.003193535231574787,-0.0034293550950022463,0.002933666614172321,0.00015630077564935955,0.0031978950263334893,-0.003438055731014742],"tcp_position_m":[0.06812614788848949,0.4873008764204014,0.3058321543357244],"tcp_quaternion_wxyz":[2.7748580697229457e-06,0.7071068926531101,0.7071066696836235,-6.610399907014128e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,5.234353005720469e-19,-6.118768081792604e-17,-1.085359513588363e-07],"object_linear_velocity_m_s":[7.567487553515948e-17,-1.3618979730901556e-18,6.012712400703898e-15],"object_angular_velocity_rad_s":[4.848649454667736e-16,3.383995583302499e-16,-1.909761876510222e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512821677417,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521840663817,-1.6220027319235524,1.6684381921927822,-1.642073489754717,-1.5707951225297574,-0.41472550452575707,0.0],"actuator_force":[0.00012882961163995788,-19.136266952452843,-20.899098501742174,-2.4130412783339352,0.0006283944658207474,1.8777688154614225e-05,-0.2933638317025944],"issued_joint_targets_rad":[-1.9855218448573102,-1.6124354063580495,1.6788864765402298,-1.6372469219187418,-1.5707963646939458,-0.41472550957183835],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.640000000000096,"joint_targets_rad":[-1.9855218448573102,-1.6124354063580495,1.6788864765402298,-1.6372469219187418,-1.5707963646939458,-0.41472550957183835],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.660000000000085,"qpos":[-1.9855187754811867,-1.61243481884303,1.6788129287904023,-1.6371612808458862,-1.5707966785469174,-0.4147221599726132,0.0029336618043845552,0.00015630289402217,0.0031935297950514887,-0.003429349618882357,0.002933661200407168,0.0001563008028792971,0.0031978905632170053,-0.0034380500032436525,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,3.0453412808858386e-18,-7.920326687281221e-17,-1.0899826710703942e-07],"qvel":[-1.5635183477510354e-05,5.362975407003182e-07,0.0003737394350005531,-0.00043076094786622277,1.5214420750996981e-06,-1.6918091842216534e-05,-2.5946392283446426e-07,-6.126056470904484e-09,-2.583562615923811e-07,2.5938852416849427e-07,-2.5735035065465923e-07,9.619852572352645e-10,-2.1547628280144456e-07,2.7110340489520736e-07,1.1020921529064468e-16,3.7715771694284465e-18,6.23614478440971e-15,2.115565073481157e-16,-8.530794547781335e-17,-3.486742911569459e-08],"joint_position_rad":[-1.9855187754811867,-1.61243481884303,1.6788129287904023,-1.6371612808458862,-1.5707966785469174,-0.4147221599726132],"joint_velocity_rad_s":[-1.5635183477510354e-05,5.362975407003182e-07,0.0003737394350005531,-0.00043076094786622277,1.5214420750996981e-06,-1.6918091842216534e-05],"linkage_position_rad":[0.0029336618043845552,0.00015630289402217,0.0031935297950514887,-0.003429349618882357,0.002933661200407168,0.0001563008028792971,0.0031978905632170053,-0.0034380500032436525],"tcp_position_m":[0.0681263421052643,0.4873009518595848,0.30582919724306257],"tcp_quaternion_wxyz":[2.5467629343458367e-06,0.7071068832461125,0.7071066790963494,-6.067481630384614e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,3.0453412808858386e-18,-7.920326687281221e-17,-1.0899826710703942e-07],"object_linear_velocity_m_s":[1.1020921529064468e-16,3.7715771694284465e-18,6.23614478440971e-15],"object_angular_velocity_rad_s":[2.1155649427450299e-16,-8.530799138403094e-17,-3.486742911569462e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512860768763,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521844843177,-1.6220027637656829,1.6684382597276712,-1.6420735717738655,-1.5707951184394502,-0.4147255095886172,0.0],"actuator_force":[0.00011534941086210893,-19.136104364322364,-20.89883389946226,-2.413069369202958,0.000627909526087933,1.7001182214926303e-05,-0.29336356616821874],"issued_joint_targets_rad":[-1.985521848625616,-1.6124354389655142,1.6788865349322994,-1.6372469939499525,-1.5707963610954758,-0.41472551414424547],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.660000000000085,"joint_targets_rad":[-1.985521848625616,-1.6124354389655142,1.6788865349322994,-1.6372469939499525,-1.5707963610954758,-0.41472551414424547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.680000000000074,"qpos":[-1.9855190725031866,-1.612434815026883,1.6788200244428533,-1.6371694641056538,-1.5707966492705707,-0.41472248145288565,0.0029336568715402716,0.0001563027701473305,0.0031935248869791083,-0.003429344675874274,0.00293365631329249,0.00015630082767192587,0.0031978865362024666,-0.003438044832205552,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,8.678283911128207e-18,-7.485293654438535e-17,-1.0937199345624859e-07],"qvel":[-1.4138749655693554e-05,4.549342994444235e-09,0.0003379731514918295,-0.000389967754763503,1.3978833331089706e-06,-1.5317460610495738e-05,-2.3421702070341605e-07,-5.5257330451403415e-09,-2.3322214850265206e-07,2.341266145282355e-07,-2.3231245328327211e-07,8.682884427167967e-10,-1.9449294400439195e-07,2.4473312605476344e-07,1.1666993888160065e-16,1.6791431115427514e-17,5.91001677092607e-15,1.1206895509794493e-15,-1.1841029528683573e-15,-6.36591204427789e-08],"joint_position_rad":[-1.9855190725031866,-1.612434815026883,1.6788200244428533,-1.6371694641056538,-1.5707966492705707,-0.41472248145288565],"joint_velocity_rad_s":[-1.4138749655693554e-05,4.549342994444235e-09,0.0003379731514918295,-0.000389967754763503,1.3978833331089706e-06,-1.5317460610495738e-05],"linkage_position_rad":[0.0029336568715402716,0.0001563027701473305,0.0031935248869791083,-0.003429344675874274,0.00293365631329249,0.00015630082767192587,0.0031978865362024666,-0.003438044832205552],"tcp_position_m":[0.06812651796772173,0.4873010209038364,0.3058265288239117],"tcp_quaternion_wxyz":[2.336818002424749e-06,0.7071068746013569,0.7071066877459442,-5.567693447961885e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,8.678283911128207e-18,-7.485293654438535e-17,-1.0937199345624859e-07],"object_linear_velocity_m_s":[1.1666993888160065e-16,1.6791431115427514e-17,5.91001677092607e-15],"object_angular_velocity_rad_s":[1.120689301494167e-15,-1.1841031969075277e-15,-6.365912044277896e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512896045038,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218486140847,-1.6220027929733138,1.6684383216010377,-1.6420736474159163,-1.5707951147437993,-0.4147255141596414,0.0],"actuator_force":[0.00010327806649002014,-19.135957712599065,-20.89859494422808,-2.4130948796549774,0.0006274750523971306,1.5392683195614154e-05,-0.2933633265942681],"issued_joint_targets_rad":[-1.9855218520423141,-1.6124354688260636,1.678886588118019,-1.6372470594849977,-1.5707963578396684,-0.4147255182888309],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.680000000000074,"joint_targets_rad":[-1.9855218520423141,-1.6124354688260636,1.678886588118019,-1.6372470594849977,-1.5707963578396684,-0.4147255182888309],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.700000000000063,"qpos":[-1.9855193411021983,-1.612434820711126,1.6788264410936642,-1.6371768724333502,-1.5707966223774406,-0.41472277251814377,0.0029336524187074204,0.0001563026583011478,0.0031935204563207065,-0.003429340214228339,0.002933651901768857,0.0001563008501730917,0.0031978829023805388,-0.003438040164021292,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,9.594274104256859e-18,-6.299310789420927e-17,-1.0966813193048836e-07],"qvel":[-1.2785803803448019e-05,-4.3086561528012896e-07,0.0003056319231411812,-0.0003530387141476128,1.284040629107666e-06,-1.3868287934844358e-05,-2.1142112936954196e-07,-4.98799683077168e-09,-2.10537591987006e-07,2.1131937420681328e-07,-2.0970172953267422e-07,7.869578690360143e-10,-1.7551943932470272e-07,2.2092962589531692e-07,1.4357519182941467e-16,-7.838466044374356e-18,5.846178947010121e-15,-1.7656731293485547e-15,-3.028725680200741e-15,-1.1622547799844418e-07],"joint_position_rad":[-1.9855193411021983,-1.612434820711126,1.6788264410936642,-1.6371768724333502,-1.5707966223774406,-0.41472277251814377],"joint_velocity_rad_s":[-1.2785803803448019e-05,-4.3086561528012896e-07,0.0003056319231411812,-0.0003530387141476128,1.284040629107666e-06,-1.3868287934844358e-05],"linkage_position_rad":[0.0029336524187074204,0.0001563026583011478,0.0031935204563207065,-0.003429340214228339,0.002933651901768857,0.0001563008501730917,0.0031978829023805388,-0.003438040164021292],"tcp_position_m":[0.068126677210435,0.4873010840813958,0.3058241208937231],"tcp_quaternion_wxyz":[2.1436386284176246e-06,0.7071068666604918,0.7071066956908956,-5.107753402940367e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,9.594274104256859e-18,-6.299310789420927e-17,-1.0966813193048836e-07],"object_linear_velocity_m_s":[1.4357519182941467e-16,-7.838466044374356e-18,5.846178947010121e-15],"object_angular_velocity_rad_s":[-1.7656737790150806e-15,-3.028725290694327e-15,-1.1622547799844429e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512927879668,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218520329054,-1.6220028195857565,1.6684383779153569,-1.64207371627357,-1.5707951113987173,-0.4147255183029543,0.0],"actuator_force":[9.246010722563369e-05,-19.135825403014678,-20.898379125871543,-2.413118048695196,0.0006270852986745012,1.3936388199908833e-05,-0.29336311040951935],"issued_joint_targets_rad":[-1.9855218551346194,-1.6124354957772256,1.678886636087036,-1.6372471185126656,-1.5707963548965482,-0.4147255220399814],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.700000000000063,"joint_targets_rad":[-1.9855218551346194,-1.6124354957772256,1.678886636087036,-1.6372471185126656,-1.5707963548965482,-0.4147255220399814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.720000000000052,"qpos":[-1.985519584000938,-1.6124348340911026,1.6788322437175718,-1.6371835791775324,-1.5707965976797582,-0.41472303604583016,0.00293364839929031,0.000156302557297884,0.0031935164566771197,-0.0034293361871731132,0.0029336479196756097,0.00015630087059073324,0.0031978796235164167,-0.0034380359498305505,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,1.115487108490012e-18,-5.626221578312166e-17,-1.101090028534289e-07],"qvel":[-1.1562541233384584e-05,-7.816805770722678e-07,0.00027638536150344836,-0.0003196049791290563,1.1791761370180564e-06,-1.255621420726027e-05,-1.9084101008033455e-07,-4.505694792504768e-09,-1.9005664884614744e-07,1.9073408920749956e-07,-1.8928590560442817e-07,7.1716242398981e-10,-1.5836038496980094e-07,1.994430647405335e-07,6.942635559515878e-17,1.9560823722027322e-18,5.735156644547604e-15,-5.773741123706096e-16,2.3032080541920867e-15,-1.2592078751231724e-08],"joint_position_rad":[-1.985519584000938,-1.6124348340911026,1.6788322437175718,-1.6371835791775324,-1.5707965976797582,-0.41472303604583016],"joint_velocity_rad_s":[-1.1562541233384584e-05,-7.816805770722678e-07,0.00027638536150344836,-0.0003196049791290563,1.1791761370180564e-06,-1.255621420726027e-05],"linkage_position_rad":[0.00293364839929031,0.000156302557297884,0.0031935164566771197,-0.0034293361871731132,0.0029336479196756097,0.00015630087059073324,0.0031978796235164167,-0.0034380359498305505],"tcp_position_m":[0.06812682140434587,0.48730114188060025,0.3058219480210722],"tcp_quaternion_wxyz":[1.965947394376229e-06,0.7071068593688739,0.707106702985961,-4.68463403768408e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,1.115487108490012e-18,-5.626221578312166e-17,-1.101090028534289e-07],"object_linear_velocity_m_s":[6.942635559515878e-17,1.9560823722027322e-18,5.735156644547604e-15],"object_angular_velocity_rad_s":[-5.773736037457953e-16,2.3032081813683015e-15,-1.2592078751231737e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351295660737,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218551269427,-1.6220028434429552,1.6684384286959069,-1.6420737783575867,-1.570795108373606,-0.4147255220529342,0.0],"actuator_force":[8.276448397737113e-05,-19.135706031474456,-20.898184187931292,-2.413139092114193,0.0006267354623332722,1.2617868691222611e-05,-0.29336291531371755],"issued_joint_targets_rad":[-1.9855218579347929,-1.6124355200656042,1.6788866793195296,-1.6372471716489572,-1.5707963522347739,-0.41472552543653896],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.720000000000052,"joint_targets_rad":[-1.9855218579347929,-1.6124355200656042,1.6788866793195296,-1.6372471716489572,-1.5707963522347739,-0.41472552543653896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.740000000000041,"qpos":[-1.985519803662823,-1.612434853613418,1.6788374910675703,-1.6371896507427994,-1.5707965750037005,-0.4147232746412837,0.0029336447711924116,0.00015630246607577293,0.003193512846212778,-0.0034293325524692333,0.0029336443253186965,0.00015630088914621751,0.003197876665232651,-0.0034380321455801687,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-2.2159267213539172e-17,-2.1857911533122385e-17,-1.1055194380339266e-07],"qvel":[-1.045653251433961e-05,-1.060005540819233e-06,0.00024993723397180893,-0.00028933575117299647,1.0826184805286093e-06,-1.1368276610354325e-05,-1.7225914883920055e-07,-4.070004746965217e-09,-1.7156263351072913e-07,1.7214822697536885e-07,-1.7085239128006045e-07,6.542029672641453e-10,-1.4286976149143302e-07,1.8004018923909042e-07,2.7304703010029574e-17,-2.4805612208194272e-17,5.719891077959009e-15,-5.966765710235759e-16,2.3148851956777007e-15,-2.2989955903825317e-08],"joint_position_rad":[-1.985519803662823,-1.612434853613418,1.6788374910675703,-1.6371896507427994,-1.5707965750037005,-0.4147232746412837],"joint_velocity_rad_s":[-1.045653251433961e-05,-1.060005540819233e-06,0.00024993723397180893,-0.00028933575117299647,1.0826184805286093e-06,-1.1368276610354325e-05],"linkage_position_rad":[0.0029336447711924116,0.00015630246607577293,0.003193512846212778,-0.0034293325524692333,0.0029336443253186965,0.00015630088914621751,0.003197876665232651,-0.0034380321455801687],"tcp_position_m":[0.0681269519731738,0.4873011947511952,0.30581998725490545],"tcp_quaternion_wxyz":[1.8025586975707663e-06,0.707106852676378,0.7071067096813648,-4.295524846476011e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-2.2159267213539172e-17,-2.1857911533122385e-17,-1.1055194380339266e-07],"object_linear_velocity_m_s":[2.7304703010029574e-17,-2.4805612208194272e-17,5.719891077959009e-15],"object_angular_velocity_rad_s":[-5.966760581884211e-16,2.3148853265862747e-15,-2.2989955903825343e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313512982528974,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218579285292,-1.6220028647922657,1.6684384744549237,-1.6420738343043448,-1.5707951056365481,-0.41472552544841546,0.0],"actuator_force":[7.408159353872179e-05,-19.135598355479033,-20.89800811888199,-2.4131582056554635,0.0006264217281568563,1.142409519161447e-05,-0.2933627392678548],"issued_joint_targets_rad":[-1.985521860470668,-1.612435541953935,1.6788867182909561,-1.637247219495831,-1.570796349826863,-0.41472552851227845],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.740000000000041,"joint_targets_rad":[-1.985521860470668,-1.612435541953935,1.6788867182909561,-1.637247219495831,-1.570796349826863,-0.41472552851227845],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.76000000000003,"qpos":[-1.9855200023150295,-1.612434877953287,1.6788422362762043,-1.637195147253371,-1.5707965541885573,-0.4147234906633796,0.0029336414964102565,0.00015630238368887907,0.00319350958715475,-0.00342932927199089,0.002933641081039874,0.00015630090601380993,0.0031978739963064847,-0.0034380287114923274,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-3.3405847389772643e-17,2.2533219546100773e-18,-1.1098148263041149e-07],"qvel":[-9.456520266992738e-06,-1.276628830740483e-06,0.00022601983775820107,-0.00026193174774862004,9.937408966913845e-07,-1.0292731591639964e-05,-1.55481987885828e-07,-3.676317146311382e-09,-1.5486361906047455e-07,1.553689404011852e-07,-1.5420948528346668e-07,5.967355045627147e-10,-1.288901201007848e-07,1.6252024573148208e-07,-5.1029529284269855e-18,-4.7571059127956734e-17,5.679645493316347e-15,-7.094742733606656e-16,2.0549025056721405e-15,-4.197385379347828e-08],"joint_position_rad":[-1.9855200023150295,-1.612434877953287,1.6788422362762043,-1.637195147253371,-1.5707965541885573,-0.4147234906633796],"joint_velocity_rad_s":[-9.456520266992738e-06,-1.276628830740483e-06,0.00022601983775820107,-0.00026193174774862004,9.937408966913845e-07,-1.0292731591639964e-05],"linkage_position_rad":[0.0029336414964102565,0.00015630238368887907,0.00319350958715475,-0.00342932927199089,0.002933641081039874,0.00015630090601380993,0.0031978739963064847,-0.0034380287114923274],"tcp_position_m":[0.06812707020596287,0.48730124310627315,0.3058182178848376],"tcp_quaternion_wxyz":[1.6523711807946593e-06,0.7071068465364855,0.7071067158237078,-3.9378139570588065e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-3.3405847389772643e-17,2.2533219546100773e-18,-1.1098148263041149e-07],"object_linear_velocity_m_s":[-5.1029529284269855e-18,-4.7571059127956734e-17,5.679645493316347e-15],"object_angular_velocity_rad_s":[-7.09473817437557e-16,2.0549026603447616e-15,-4.197385379347833e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513005917552,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218604655571,-1.6220028838955969,1.668438515696691,-1.6420738847347285,-1.5707951031595282,-0.4147255285231656,0.0],"actuator_force":[6.630705092902645e-05,-19.135501233087325,-20.89784909413038,-2.413175565903771,0.000626140424856203,1.0343266183099331e-05,-0.2933625804151407],"issued_joint_targets_rad":[-1.9855218627672657,-1.612435561683214,1.6788867534318725,-1.6372472625962402,-1.570796347648186,-0.4147255312975916],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.76000000000003,"joint_targets_rad":[-1.9855218627672657,-1.612435561683214,1.6788867534318725,-1.6372472625962402,-1.570796347648186,-0.4147255312975916],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.780000000000019,"qpos":[-1.9855201819708912,-1.6124349059860863,1.6788465273933268,-1.637200123147035,-1.5707965350858204,-0.414723686247821,0.002933638540617142,0.0001563023092817276,0.003193506645380383,-0.0034293263112947794,0.0029336381528230412,0.00015630092134681208,0.0031978715885180977,-0.0034380256116271,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-4.112341066930409e-17,3.262233603663157e-18,-1.1131233923469818e-07],"qvel":[-8.552326495739782e-06,-1.4409533716928986e-06,0.00020439108161944512,-0.000237121979931661,9.119598322474191e-07,-9.31894570248565e-06,-1.4033502899977987e-07,-3.3206284780263386e-09,-1.3978620425109636e-07,1.4022128795020408e-07,-1.3918403802950122e-07,5.442133724102502e-10,-1.1627515517012247e-07,1.4670138614280852e-07,5.413684127690366e-18,-9.922130303210439e-17,5.6477265813583725e-15,-4.794392995465845e-15,-1.1761113117855932e-15,-7.663365730868014e-08],"joint_position_rad":[-1.9855201819708912,-1.6124349059860863,1.6788465273933268,-1.637200123147035,-1.5707965350858204,-0.414723686247821],"joint_velocity_rad_s":[-8.552326495739782e-06,-1.4409533716928986e-06,0.00020439108161944512,-0.000237121979931661,9.119598322474191e-07,-9.31894570248565e-06],"linkage_position_rad":[0.002933638540617142,0.0001563023092817276,0.003193506645380383,-0.0034293263112947794,0.0029336381528230412,0.00015630092134681208,0.0031978715885180977,-0.0034380256116271],"tcp_position_m":[0.0681271772696465,0.48730128732507383,0.3058166212229576],"tcp_quaternion_wxyz":[1.514362280698411e-06,0.7071068409059694,0.7071067214562886,-3.60907536605956e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-4.112341066930409e-17,3.262233603663157e-18,-1.1131233923469818e-07],"object_linear_velocity_m_s":[5.413684127690366e-18,-9.922130303210439e-17,5.6477265813583725e-15],"object_angular_velocity_rad_s":[-4.794393257797129e-15,-1.1761102507382411e-15,-7.663365730868024e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513027019904,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218627630957,-1.6220029009918082,1.6684385528776862,-1.6420739302092615,-1.570795100917425,-0.41472553130756956,0.0],"actuator_force":[5.93461891185143e-05,-19.135413630095172,-20.897705463929015,-2.413191333120153,0.0006258882143583833,9.364695984004356e-06,-0.29336243707667403],"issued_joint_targets_rad":[-1.9855218648472022,-1.612435579470722,1.6788867851284084,-1.6372473014357094,-1.5707963456766043,-0.41472553381995186],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.780000000000019,"joint_targets_rad":[-1.9855218648472022,-1.612435579470722,1.6788867851284084,-1.6372473014357094,-1.5707963456766043,-0.41472553381995186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.800000000000008,"qpos":[-1.9855203444504272,-1.6124349367610682,1.6788504078720594,-1.6372046277123349,-1.5707965175583316,-0.4147238633282487,0.002933635872807373,0.00015630224208144596,0.0031935039900667234,-0.003429323639271211,0.0029336355099432504,0.00015630093528415522,0.003197869416383525,-0.003438022813519284,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-4.564286039009522e-17,-1.9264654057632363e-18,-1.1160302895099636e-07],"qvel":[-7.734751957397912e-06,-1.5611368912549377e-06,0.0001848320212564609,-0.0002146610576675282,8.367324687434551e-07,-8.437291327595635e-06,-1.2666056018796433e-07,-2.9992745622963375e-09,-1.2617353464017896e-07,1.2654734780347485e-07,-1.2561954122139976e-07,4.961836242807394e-10,-1.0489236297635242e-07,1.3241913940092303e-07,1.792753361942141e-18,-5.167708292336951e-17,5.628297678427431e-15,1.463354668096763e-15,-7.411796471975484e-17,-8.30262920354451e-09],"joint_position_rad":[-1.9855203444504272,-1.6124349367610682,1.6788504078720594,-1.6372046277123349,-1.5707965175583316,-0.4147238633282487],"joint_velocity_rad_s":[-7.734751957397912e-06,-1.5611368912549377e-06,0.0001848320212564609,-0.0002146610576675282,8.367324687434551e-07,-8.437291327595635e-06],"linkage_position_rad":[0.002933635872807373,0.00015630224208144596,0.0031935039900667234,-0.003429323639271211,0.0029336355099432504,0.00015630093528415522,0.003197869416383525,-0.003438022813519284],"tcp_position_m":[0.06812727422060558,0.48730132775565893,0.30581518040641575],"tcp_quaternion_wxyz":[1.3875833120925378e-06,0.7071068357446898,0.7071067266193055,-3.3070574716531133e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-4.564286039009522e-17,-1.9264654057632363e-18,-1.1160302895099636e-07],"object_linear_velocity_m_s":[1.792753361942141e-18,-5.167708292336951e-17,5.628297678427431e-15],"object_angular_velocity_rad_s":[1.463354651585139e-15,-7.411829210729137e-17,-8.302629203544521e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513046058867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218648437996,-1.622002916294992,1.6684385864073425,-1.6420739712297687,-1.5707950988876442,-0.4147255338290946,0.0],"actuator_force":[5.311403856467223e-05,-19.13533461309089,-20.897575737935767,-2.4132056529500687,0.00062566209680881,8.478709787596017e-06,-0.2933623077370241],"issued_joint_targets_rad":[-1.985521866730938,-1.6124355955117167,1.6788868137264705,-1.6372473364480584,-1.5707963438921926,-0.41472553610421226],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.800000000000008,"joint_targets_rad":[-1.985521866730938,-1.6124355955117167,1.6788868137264705,-1.6372473364480584,-1.5707963438921926,-0.41472553610421226],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.819999999999997,"qpos":[-1.9855204913989348,-1.6124349694781102,1.6788539170082897,-1.6372087055750217,-1.5707965014794802,-0.414724023655356,0.0029336334649769946,0.00015630218139006528,0.0031935015933728856,-0.003429321227827788,0.0029336331246503566,0.00015630094795211937,0.003197867456893258,-0.0034380202878443555,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-5.3542967095764665e-17,-1.3840974050196673e-17,-1.120748702939616e-07],"qvel":[-6.995482292902741e-06,-1.6442411070773316e-06,0.00016714464618650246,-0.00019432677297572817,7.675543964191081e-07,-7.639051639877728e-06,-1.1431601342241905e-07,-2.708973819355866e-09,-1.1388396445986519e-07,1.1420438273422289e-07,-1.1337451291919246e-07,4.5229859735089153e-10,-9.462189383309708e-08,1.1952478745318365e-07,1.7348513487704338e-17,-6.454740676635419e-17,5.633848793550557e-15,1.6092437030834954e-15,2.798788986353054e-16,-1.51585042506709e-08],"joint_position_rad":[-1.9855204913989348,-1.6124349694781102,1.6788539170082897,-1.6372087055750217,-1.5707965014794802,-0.414724023655356],"joint_velocity_rad_s":[-6.995482292902741e-06,-1.6442411070773316e-06,0.00016714464618650246,-0.00019432677297572817,7.675543964191081e-07,-7.639051639877728e-06],"linkage_position_rad":[0.0029336334649769946,0.00015630218139006528,0.0031935015933728856,-0.003429321227827788,0.0029336331246503566,0.00015630094795211937,0.003197867456893258,-0.0034380202878443555],"tcp_position_m":[0.06812736201515923,0.48730136471740587,0.3058138802192011],"tcp_quaternion_wxyz":[1.2711547989600034e-06,0.7071068310154107,0.7071067313500472,-3.029672172401779e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-5.3542967095764665e-17,-1.3840974050196673e-17,-1.120748702939616e-07],"object_linear_velocity_m_s":[1.7348513487704338e-17,-6.454740676635419e-17,5.633848793550557e-15],"object_angular_velocity_rad_s":[1.6092437662378567e-15,2.7987853630047757e-16,-1.5158504250670925e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351306323575,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218667281616,-1.622002929996393,1.6684386166525187,-1.6420740082451817,-1.5707950970498412,-0.41472553611258794,0.0],"actuator_force":[4.7534463647025404e-05,-19.135263340122947,-20.897458570016624,-2.4132186577824086,0.0006254593798757924,7.676548023027863e-06,-0.29336219102873584],"issued_joint_targets_rad":[-1.9855218684369917,-1.61243560998148,1.6788868395359873,-1.637247368021037,-1.5707963422769975,-0.4147255381728666],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.819999999999997,"joint_targets_rad":[-1.9855218684369917,-1.61243560998148,1.6788868395359873,-1.637247368021037,-1.5707963422769975,-0.4147255381728666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.839999999999986,"qpos":[-1.9855206243037957,-1.6124350034673218,1.6788570903381927,-1.6372123971386197,-1.5707964867324493,-0.41472416881419766,0.0029336312918351428,0.0001563021265770162,0.0031934994301543247,-0.003429319051592276,0.002933630971883002,0.00015630095946573928,0.0031978656892750175,-0.003438018008119404,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-5.5451921809334385e-17,-3.4258235639813154e-17,-1.125464085711119e-07],"qvel":[-6.327002826962195e-06,-1.6963670967446292e-06,0.0001511498797554211,-0.00017591791362948984,7.039573844498847e-07,-6.916334500497424e-06,-1.0317251477463217e-07,-2.4467229042733128e-09,-1.0278931908479237e-07,1.0306326235840874e-07,-1.0232106433471006e-07,4.1220866726944044e-10,-8.535533943162882e-08,1.078841731742193e-07,4.6097816665219136e-17,-7.513100851104228e-17,5.554745403046015e-15,1.0149791239529902e-15,-4.642998899496033e-16,-2.76756007626467e-08],"joint_position_rad":[-1.9855206243037957,-1.6124350034673218,1.6788570903381927,-1.6372123971386197,-1.5707964867324493,-0.41472416881419766],"joint_velocity_rad_s":[-6.327002826962195e-06,-1.6963670967446292e-06,0.0001511498797554211,-0.00017591791362948984,7.039573844498847e-07,-6.916334500497424e-06],"linkage_position_rad":[0.0029336312918351428,0.0001563021265770162,0.0031934994301543247,-0.003429319051592276,0.002933630971883002,0.00015630095946573928,0.0031978656892750175,-0.003438018008119404],"tcp_position_m":[0.06812744151905764,0.48730139850330156,0.30581270693129675],"tcp_quaternion_wxyz":[1.1642620188957993e-06,0.707106826683622,0.7071067356830656,-2.7749844478610138e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-5.5451921809334385e-17,-3.4258235639813154e-17,-1.125464085711119e-07],"object_linear_velocity_m_s":[4.6097816665219136e-17,-7.513100851104228e-17,5.554745403046015e-15],"object_angular_velocity_rad_s":[1.01497902133863e-15,-4.643001214834334e-16,-2.7675600762646745e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513078732229,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218684347262,-1.6220029422666447,1.668438643941978,-1.642074041657249,-1.570795095385675,-0.4147255381805381,0.0],"actuator_force":[4.253926999808755e-05,-19.13519905180692,-20.897352744331783,-2.413230467951621,0.0006252776486235234,6.950279839657014e-06,-0.2933620857180117],"issued_joint_targets_rad":[-1.9855218699821267,-1.6124356230372834,1.678886862834763,-1.6372473965014225,-1.5707963408148338,-0.41472554004627254],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.839999999999986,"joint_targets_rad":[-1.9855218699821267,-1.6124356230372834,1.678886862834763,-1.6372473965014225,-1.5707963408148338,-0.41472554004627254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.859999999999975,"qpos":[-1.9855207445096628,-1.6124350381711905,1.678859959997765,-1.6372157389834436,-1.5707964732095037,-0.41472430023986034,0.0029336293305429525,0.00015630207707296727,0.0031934974777027493,-0.0034293170876595882,0.002933629029009805,0.00015630096992953087,0.0031978640947771695,-0.0034380159504272677,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-5.719302912140447e-17,-4.838036691672765e-17,-1.12941073077614e-07],"qvel":[-5.722521514974614e-06,-1.7227754099529228e-06,0.00013668577031089027,-0.00015925228301352922,6.455071337602769e-07,-6.2619944333360925e-06,-9.311360946768857e-08,-2.209823080558093e-09,-9.277387955021392e-08,9.300742843030676e-08,-9.234363548899826e-08,3.7558804762091574e-10,-7.699502175258603e-08,9.737534425202732e-08,8.054195967477431e-17,-9.316954885786771e-17,5.553357624265235e-15,-1.0635978137460874e-15,-2.0472113878855445e-15,-5.0528658032967666e-08],"joint_position_rad":[-1.9855207445096628,-1.6124350381711905,1.678859959997765,-1.6372157389834436,-1.5707964732095037,-0.41472430023986034],"joint_velocity_rad_s":[-5.722521514974614e-06,-1.7227754099529228e-06,0.00013668577031089027,-0.00015925228301352922,6.455071337602769e-07,-6.2619944333360925e-06],"linkage_position_rad":[0.0029336293305429525,0.00015630207707296727,0.0031934974777027493,-0.0034293170876595882,0.002933629029009805,0.00015630096992953087,0.0031978640947771695,-0.0034380159504272677],"tcp_position_m":[0.06812751351607434,0.4873014293820679,0.3058116481535451],"tcp_quaternion_wxyz":[1.066150753852748e-06,0.7071068227173698,0.7071067396503523,-2.5412024078659386e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-5.719302912140447e-17,-4.838036691672765e-17,-1.12941073077614e-07],"object_linear_velocity_m_s":[8.054195967477431e-17,-9.316954885786771e-17,5.553357624265235e-15],"object_angular_velocity_rad_s":[-1.0635982712853746e-15,-2.0472111534175133e-15,-5.0528658032967745e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513092712379,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218699802781,-1.6220029532578992,1.6684386685704575,-1.6420740718257079,-1.5707950938786033,-0.41472554005329765,0.0],"actuator_force":[3.806737549894024e-05,-19.13514106325374,-20.89725716273915,-2.41324119283081,0.0006251147367493104,6.292724663126137e-06,-0.29336199069141305],"issued_joint_targets_rad":[-1.9855218713815201,-1.6124356348202296,1.6788868838719546,-1.6372474221995683,-1.5707963394910964,-0.4147255417428629],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.859999999999975,"joint_targets_rad":[-1.9855218713815201,-1.6124356348202296,1.6788868838719546,-1.6372474221995683,-1.5707963394910964,-0.4147255417428629],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.879999999999963,"qpos":[-1.9855208532321853,-1.6124350731289716,1.6788625550480158,-1.637218764227977,-1.5707964608113296,-0.4147244192316519,0.0029336275604773033,0.00015630203236359272,0.003193495715511411,-0.003429315315342645,0.0029336272755952704,0.00015630097943880117,0.003197862656474473,-0.003438014093169022,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-5.353677291503641e-17,-5.13247655259232e-17,-1.132788058912467e-07],"qvel":[-5.175899321497527e-06,-1.7279922488874852e-06,0.00012360585512280985,-0.00014416490639210505,5.918011762719686e-07,-5.669562029324432e-06,-8.403406277334603e-08,-1.9958413083222373e-09,-8.373287289318489e-08,8.393158543052386e-08,-8.333779986798329e-08,3.4215150899236576e-10,-6.945245055756573e-08,8.78890870444063e-08,1.1787059640460798e-16,-1.2196558279742605e-16,5.438171985460375e-15,-2.871573617057707e-15,-3.7485734060588464e-15,-9.2252569492852e-08],"joint_position_rad":[-1.9855208532321853,-1.6124350731289716,1.6788625550480158,-1.637218764227977,-1.5707964608113296,-0.4147244192316519],"joint_velocity_rad_s":[-5.175899321497527e-06,-1.7279922488874852e-06,0.00012360585512280985,-0.00014416490639210505,5.918011762719686e-07,-5.669562029324432e-06],"linkage_position_rad":[0.0029336275604773033,0.00015630203236359272,0.003193495715511411,-0.003429315315342645,0.0029336272755952704,0.00015630097943880117,0.003197862656474473,-0.003438014093169022],"tcp_position_m":[0.06812757871578537,0.48730145760012095,0.30581069270667716],"tcp_quaternion_wxyz":[9.761232535986766e-07,0.7071068190870925,0.7071067432814983,-2.326667822075887e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-5.353677291503641e-17,-5.13247655259232e-17,-1.132788058912467e-07],"object_linear_velocity_m_s":[1.1787059640460798e-16,-1.2196558279742605e-16,5.438171985460375e-15],"object_angular_velocity_rad_s":[-2.8715744568557943e-15,-3.748572765359707e-15,-9.225256949285215e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513105324282,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218713800118,-1.6220029631058066,1.6684386908023345,-1.6420740990729026,-1.5707950925136913,-0.4147255417492949,0.0],"actuator_force":[3.4064075862261234e-05,-19.13508875677053,-20.897170833411565,-2.4132509318236544,0.0006249687014587835,5.697381425306958e-06,-0.2933619049443155],"issued_joint_targets_rad":[-1.9855218726489159,-1.6124356454569306,1.6788869028711564,-1.6372474453934347,-1.5707963382925998,-0.41472554327932487],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.879999999999963,"joint_targets_rad":[-1.9855218726489159,-1.6124356454569306,1.6788869028711564,-1.6372474453934347,-1.5707963382925998,-0.41472554327932487],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.899999999999952,"qpos":[-1.985520951570411,-1.6124351079630632,1.6788649017690873,-1.6372215028561543,-1.5707964494464088,-0.41472452696594736,0.0029336259630169947,0.0001563019919843979,0.003193494125063241,-0.0034293137159722327,0.002933625693187818,0.0001563009880801365,0.0031978613590902425,-0.003438012416843642,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-4.750344829094707e-17,-4.9989080374288904e-17,-1.136287418618821e-07],"qvel":[-4.681587315688588e-06,-1.7159030436463398e-06,0.00011177768036543867,-0.00013050640593952233,5.424667958435918e-07,-5.133179965981548e-06,-7.583876648138801e-08,-1.8025442382815322e-09,-7.557189634158105e-08,7.574011528899563e-08,-7.520918412394695e-08,3.1165413507511515e-10,-6.264784129968936e-08,7.932602872079803e-08,5.941307150560329e-17,-5.833661517935748e-17,5.452049773268191e-15,2.1070532644596954e-15,1.824056456225788e-15,-9.99481043281245e-09],"joint_position_rad":[-1.985520951570411,-1.6124351079630632,1.6788649017690873,-1.6372215028561543,-1.5707964494464088,-0.41472452696594736],"joint_velocity_rad_s":[-4.681587315688588e-06,-1.7159030436463398e-06,0.00011177768036543867,-0.00013050640593952233,5.424667958435918e-07,-5.133179965981548e-06],"linkage_position_rad":[0.0029336259630169947,0.0001563019919843979,0.003193494125063241,-0.0034293137159722327,0.002933625693187818,0.0001563009880801365,0.0031978613590902425,-0.003438012416843642],"tcp_position_m":[0.06812763776060315,0.4873014833833791,0.30580983050313026],"tcp_quaternion_wxyz":[8.935344047365392e-07,0.7071068157654645,0.7071067466038563,-2.1298471301688306e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-4.750344829094707e-17,-4.9989080374288904e-17,-1.136287418618821e-07],"object_linear_velocity_m_s":[5.941307150560329e-17,-5.833661517935748e-17,5.452049773268191e-15],"object_angular_velocity_rad_s":[2.107053679989388e-15,1.8240559764325452e-15,-9.994810432812468e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513116701648,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521872647685,-1.622002971931305,1.668438710874886,-1.6420741236878795,-1.5707950912774498,-0.41472554328521266,0.0],"actuator_force":[3.0480378427455435e-05,-19.13504157526586,-20.897092860549037,-2.4132597752686706,0.0006248377999327204,5.158363933333021e-06,-0.2933618275704876],"issued_joint_targets_rad":[-1.9855218737967604,-1.6124356550610301,1.6788869200331538,-1.6372474663321648,-1.5707963372074334,-0.4147255446707694],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.899999999999952,"joint_targets_rad":[-1.9855218737967604,-1.6124356550610301,1.6788869200331538,-1.6372474663321648,-1.5707963372074334,-0.4147255446707694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.919999999999941,"qpos":[-1.985521040517994,-1.612435142367129,1.6788670239262622,-1.6372239820137544,-1.5707964390304412,-0.414724624507821,0.0029336245213495305,0.00015630195551589708,0.003193492689638997,-0.003429312272686582,0.0029336242651283122,0.0001563009959323155,0.0031978601888376246,-0.003438010903841954,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-5.746465037823975e-17,-4.922377176720039e-17,-1.1407655975585493e-07],"qvel":[-4.234569827243885e-06,-1.6898347956487747e-06,0.00010108146237717574,-0.00011814152876033882,4.971590752840464e-07,-4.647545116395275e-06,-6.844185158730988e-08,-1.6279793835499588e-09,-6.820542499551546e-08,6.834712096529902e-08,-6.787258417564601e-08,2.83810428876607e-10,-5.650927650886853e-08,7.159623612257926e-08,6.148853861213871e-17,-7.40167785252376e-17,5.4173553037486514e-15,1.3335493497050491e-15,1.3483940370672055e-15,-1.8247999846332053e-08],"joint_position_rad":[-1.985521040517994,-1.612435142367129,1.6788670239262622,-1.6372239820137544,-1.5707964390304412,-0.414724624507821],"joint_velocity_rad_s":[-4.234569827243885e-06,-1.6898347956487747e-06,0.00010108146237717574,-0.00011814152876033882,4.971590752840464e-07,-4.647545116395275e-06],"linkage_position_rad":[0.0029336245213495305,0.00015630195551589708,0.003193492689638997,-0.003429312272686582,0.0029336242651283122,0.0001563009959323155,0.0031978601888376246,-0.003438010903841954],"tcp_position_m":[0.06812769123214696,0.4873015069389259,0.3058090524404192],"tcp_quaternion_wxyz":[8.177881089975485e-07,0.7071068127272463,0.7071067496426872,-1.9493229192679796e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-5.746465037823975e-17,-4.922377176720039e-17,-1.1407655975585493e-07],"object_linear_velocity_m_s":[6.148853861213871e-17,-7.40167785252376e-17,5.4173553037486514e-15],"object_angular_velocity_rad_s":[1.3335496591417935e-15,1.3483937307164988e-15,-1.824799984633209e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513126965126,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521873795756,-1.6220029798422404,1.6684387290011955,-1.6420741459300272,-1.570795090157689,-0.4147255446761581,0.0],"actuator_force":[2.7272406441625208e-05,-19.134999016304846,-20.897022435084182,-2.413267805260375,0.0006247204686360419,4.670343088264417e-06,-0.29336175775171336],"issued_joint_targets_rad":[-1.9855218748363246,-1.6124356637345725,1.6788869355383587,-1.6372474852392305,-1.5707963362248338,-0.41472554593088057],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.919999999999941,"joint_targets_rad":[-1.9855218748363246,-1.6124356637345725,1.6788869355383587,-1.6372474852392305,-1.5707963362248338,-0.41472554593088057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.93999999999993,"qpos":[-1.98552112097332,-1.6124351760957503,1.6788689430105501,-1.6372262262768116,-1.5707964294858008,-0.41472471282157664,0.0029336232202963014,0.0001563019225793667,0.0031934913941431323,-0.003429310970270651,0.0029336229763767996,0.00015630100306708027,0.0031978591332749145,-0.0034380095382641794,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-7.225516924132162e-17,-5.935748869518749e-17,-1.1451830790288479e-07],"qvel":[-3.830313088912776e-06,-1.6526284610277823e-06,9.140887662874826e-05,-0.00010694781335405544,4.555590119339663e-07,-4.207856114498677e-06,-6.176568064204255e-08,-1.4702675290059575e-09,-6.155631825408638e-08,6.167539363839663e-08,-6.12509705216124e-08,2.584126720350505e-10,-5.097163945663217e-08,6.461901602233361e-08,8.425207377856508e-17,-1.0115702897662054e-16,5.407640852283181e-15,-2.936855970630779e-16,-8.359592059297766e-18,-3.331623952551774e-08],"joint_position_rad":[-1.98552112097332,-1.6124351760957503,1.6788689430105501,-1.6372262262768116,-1.5707964294858008,-0.41472471282157664],"joint_velocity_rad_s":[-3.830313088912776e-06,-1.6526284610277823e-06,9.140887662874826e-05,-0.00010694781335405544,4.555590119339663e-07,-4.207856114498677e-06],"linkage_position_rad":[0.0029336232202963014,0.0001563019225793667,0.0031934913941431323,-0.003429310970270651,0.0029336229763767996,0.00015630100306708027,0.0031978591332749145,-0.0034380095382641794],"tcp_position_m":[0.06812773965700472,0.48730152845654595,0.30580835030491227],"tcp_quaternion_wxyz":[7.48333864253629e-07,0.7071068099491425,0.7071067524213049,-1.7837858789842375e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-7.225516924132162e-17,-5.935748869518749e-17,-1.1451830790288479e-07],"object_linear_velocity_m_s":[8.425207377856508e-17,-1.0115702897662054e-16,5.407640852283181e-15],"object_angular_velocity_rad_s":[-2.936855950225874e-16,-8.359529609083806e-18,-3.331623952551781e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513136223636,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521874835505,-1.622002986934814,1.6684387453727296,-1.6420741660322793,-1.5707950891433877,-0.4147255459358116,0.0],"actuator_force":[2.4400865186180454e-05,-19.134960626743577,-20.89695882629212,-2.413275096398479,0.0006246153052416048,4.228493963864821e-06,-0.29336169475039925],"issued_joint_targets_rad":[-1.985521875777819,-1.6124356715692283,1.6788869495489789,-1.637247502315228,-1.5707963353350722,-0.4147255470720511],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.93999999999993,"joint_targets_rad":[-1.985521875777819,-1.6124356715692283,1.6788869495489789,-1.637247502315228,-1.5707963353350722,-0.4147255470720511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.95999999999992,"qpos":[-1.9855211937486612,-1.6124352089554301,1.6788706784562744,-1.6372282578946837,-1.5707964207410308,-0.4147247927802822,0.0029336220461543827,0.0001563018928325657,0.0031934902249470248,-0.0034293097949834417,0.0029336218133557196,0.00015630100954972429,0.0031978581811749132,-0.0034380083057577926,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999944,-8.197438298275475e-17,-8.470388660496487e-17,-1.1493113411357691e-07],"qvel":[-3.4647188528682175e-06,-1.6067024778110512e-06,8.266196229430342e-05,-9.681438174491621e-05,4.173717265911861e-07,-3.8097658833096307e-06,-5.574018981774793e-08,-1.327843807372525e-09,-5.555490190310594e-08,5.565433999803882e-08,-5.5274820889621564e-08,2.352601132358054e-10,-4.597616820010076e-08,5.8321347288537735e-08,1.735761229037818e-16,-1.498625022265252e-16,5.574174305976954e-15,-2.7343555961541395e-15,-5.835407782846505e-15,-6.08270399752781e-08],"joint_position_rad":[-1.9855211937486612,-1.6124352089554301,1.6788706784562744,-1.6372282578946837,-1.5707964207410308,-0.4147247927802822],"joint_velocity_rad_s":[-3.4647188528682175e-06,-1.6067024778110512e-06,8.266196229430342e-05,-9.681438174491621e-05,4.173717265911861e-07,-3.8097658833096307e-06],"linkage_position_rad":[0.0029336220461543827,0.0001563018928325657,0.0031934902249470248,-0.0034293097949834417,0.0029336218133557196,0.00015630100954972429,0.0031978581811749132,-0.0034380083057577926],"tcp_position_m":[0.06812778351194783,0.4873015481101382,0.30580771668501305],"tcp_quaternion_wxyz":[6.846635420783447e-07,0.7071068074096668,0.7071067549612117,-1.632027209770587e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999944,-8.197438298275475e-17,-8.470388660496487e-17,-1.1493113411357691e-07],"object_linear_velocity_m_s":[1.735761229037818e-16,-1.498625022265252e-16,5.574174305976954e-15],"object_angular_velocity_rad_s":[-2.7343569271895697e-15,-5.8354071642937025e-15,-6.082703997527822e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351314457545,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218757771502,-1.6220029932948714,1.6684387601616322,-1.6420741842039666,-1.5707950882245798,-0.4147255470765627,0.0],"actuator_force":[2.1830563582625473e-05,-19.134925997891514,-20.896901374202116,-2.4132817164668268,0.0006245210528277312,3.8284480865513615e-06,-0.29336163790045156],"issued_joint_targets_rad":[-1.9855218766304892,-1.6124356786473877,1.6788869622109326,-1.6372475177403372,-1.5707963345293499,-0.4147255481055026],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.95999999999992,"joint_targets_rad":[-1.9855218766304892,-1.6124356786473877,1.6788869622109326,-1.6372475177403372,-1.5707963345293499,-0.4147255481055026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.979999999999908,"qpos":[-1.9855212595784484,-1.6124352407967784,1.6788722478378544,-1.637230097010159,-1.5707964127303764,-0.41472486517440216,0.0029336209865537216,0.00015630186596654112,0.0031934891697469893,-0.00342930873442567,0.0029336207638083517,0.00015630101543951037,0.0031978573224071194,-0.003438007193361707,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-7.48618915120086e-17,-8.844109363489601e-17,-1.1521409791649314e-07],"qvel":[-3.134082438535694e-06,-1.554108484731931e-06,7.475213135784542e-05,-8.764084529309921e-05,3.8232481068341506e-07,-3.4493386405371363e-06,-5.0302077629949306e-08,-1.199210192723686e-09,-5.013809626708436e-08,5.022071090505079e-08,-4.988133234722182e-08,2.141462318516392e-10,-4.146993824668016e-08,5.2636986230534925e-08,2.8356648645402387e-16,-2.5925183895463667e-16,6.1167958092625e-15,-1.167740015518158e-14,-1.2263365768530874e-14,-1.1105481425418081e-07],"joint_position_rad":[-1.9855212595784484,-1.6124352407967784,1.6788722478378544,-1.637230097010159,-1.5707964127303764,-0.41472486517440216],"joint_velocity_rad_s":[-3.134082438535694e-06,-1.554108484731931e-06,7.475213135784542e-05,-8.764084529309921e-05,3.8232481068341506e-07,-3.4493386405371363e-06],"linkage_position_rad":[0.0029336209865537216,0.00015630186596654112,0.0031934891697469893,-0.00342930873442567,0.0029336207638083517,0.00015630101543951037,0.0031978573224071194,-0.003438007193361707],"tcp_position_m":[0.06812782322865399,0.48730156605901526,0.30580714489282246],"tcp_quaternion_wxyz":[6.263083607782047e-07,0.7071068050890155,0.7071067572822252,-1.492931479049774e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-7.48618915120086e-17,-8.844109363489601e-17,-1.1521409791649314e-07],"object_linear_velocity_m_s":[2.8356648645402387e-16,-2.5925183895463667e-16,6.1167958092625e-15],"object_angular_velocity_rad_s":[-1.1677402961362902e-14,-1.2263363094355845e-14,-1.1105481425418081e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513152109273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855218766299434,-1.6220029989990494,1.6684387735227515,-1.6420742006333275,-1.5707950873922487,-0.41472554810962964,0.0],"actuator_force":[1.952998536580708e-05,-19.13489476114819,-20.89684948274862,-2.4132877270550352,0.000624436582825183,3.4662503196614125e-06,-0.29336158660105377],"issued_joint_targets_rad":[-1.985534561739306,-1.6154171399031605,1.635843006345343,-1.5914288795190186,-1.5707821997123481,-0.41473820421908947],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.979999999999908,"joint_targets_rad":[-1.985534561739306,-1.6154171399031605,1.635843006345343,-1.5914288795190186,-1.5707821997123481,-0.41473820421908947],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.999999999999897,"qpos":[-1.9855222388687481,-1.6124867957068865,1.6776197525180379,-1.635723569597621,-1.570795329975774,-0.41472608388321475,0.002949050600480765,0.00016042986335619133,0.0032078759895745163,-0.0034537604734003677,0.002947448636392357,0.0001554484183867532,0.003185788540980792,-0.0034667834574938217,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-9.055382242937471e-17,-1.036223362151203e-16,-1.1563535528020027e-07],"qvel":[0.00017764653479369772,-0.0024877354531334384,-0.12890205647729677,0.14330810645203595,6.726757330464917e-05,-6.136598090588793e-05,0.000790301080597298,8.559594342014788e-05,0.0006314167209404834,-0.0011173841871335074,0.0007558811502525651,2.1453755411714684e-05,0.000307920678749665,-0.0011086190896695154,1.2510915534125305e-16,-1.1052961888759705e-16,6.277778147833145e-15,2.784483601061619e-15,3.2902952048563247e-15,-1.20318796779718e-08],"joint_position_rad":[-1.9855222388687481,-1.6124867957068865,1.6776197525180379,-1.635723569597621,-1.570795329975774,-0.41472608388321475],"joint_velocity_rad_s":[0.00017764653479369772,-0.0024877354531334384,-0.12890205647729677,0.14330810645203595,6.726757330464917e-05,-6.136598090588793e-05],"linkage_position_rad":[0.002949050600480765,0.00016042986335619133,0.0032078759895745163,-0.0034537604734003677,0.002947448636392357,0.0001554484183867532,0.003185788540980792,-0.0034667834574938217],"tcp_position_m":[0.0681118957886378,0.48726492556038853,0.30629607187044494],"tcp_quaternion_wxyz":[3.679457016866853e-05,0.7071067167384834,0.7071068381535494,-9.60519197965553e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-9.055382242937471e-17,-1.036223362151203e-16,-1.1563535528020027e-07],"object_linear_velocity_m_s":[1.2510915534125305e-16,-1.1052961888759705e-16,6.277778147833145e-15],"object_angular_velocity_rad_s":[2.7844843645039976e-15,3.2902945587076703e-15,-1.20318796779718e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313681852825731,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855330412406191,-1.6249897033275091,1.6384386785914893,-1.6120717142670915,-1.5707809483953847,-0.41473820519322036,0.0],"actuator_force":[-0.09266335765960321,-24.010721059992193,-26.80132526217858,-2.5048829799387704,0.0004640328641016822,7.594308777925107e-05,-0.30255587299790543],"issued_joint_targets_rad":[-1.9855348525851528,-1.6155179150974492,1.634691520173747,-1.590175634778039,-1.5707822533125735,-0.41473849686103265],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.999999999999897,"joint_targets_rad":[-1.9855348525851528,-1.6155179150974492,1.634691520173747,-1.590175634778039,-1.5707822533125735,-0.41473849686103265],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.019999999999886,"qpos":[-1.9855292062951693,-1.6126077845547342,1.673963577054202,-1.6317777194363596,-1.5707932965942784,-0.4147272786386977,0.0029560146769655156,0.00015833240339479374,0.0032143219581442437,-0.0034571983191178436,0.0029552518372392947,0.0001567121148242105,0.0032090642973655785,-0.003467704479142919,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.1712938342670866e-16,-1.0915386775741281e-16,-1.1611330216535134e-07],"qvel":[-0.0007680808388266327,-0.012670745006764865,-0.19767168828503826,0.21027472404647873,2.0570276924590485e-05,-5.6219486495057027e-05,-0.00023692057472267226,-0.00029244336652889966,-0.00022290823521825843,0.0009002492588536615,-0.00011105950508728627,6.994530152548158e-05,0.0016468298417211442,0.0011305372486060702,1.3986689527875934e-16,-1.5063658456669514e-16,6.354105980776127e-15,2.0898403000769747e-15,2.8080819092655706e-15,-2.1967173863939387e-08],"joint_position_rad":[-1.9855292062951693,-1.6126077845547342,1.673963577054202,-1.6317777194363596,-1.5707932965942784,-0.4147272786386977],"joint_velocity_rad_s":[-0.0007680808388266327,-0.012670745006764865,-0.19767168828503826,0.21027472404647873,2.0570276924590485e-05,-5.6219486495057027e-05],"linkage_position_rad":[0.0029560146769655156,0.00015833240339479374,0.0032143219581442437,-0.0034571983191178436,0.0029552518372392947,0.0001567121148242105,0.0032090642973655785,-0.003467704479142919],"tcp_position_m":[0.06811443194045076,0.4872637911379252,0.30775475691362164],"tcp_quaternion_wxyz":[6.639876643626486e-05,0.7071087491972232,0.7071047883889834,-0.000175035174618357],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.1712938342670866e-16,-1.0915386775741281e-16,-1.1611330216535134e-07],"object_linear_velocity_m_s":[1.3986689527875934e-16,-1.5063658456669514e-16,6.354105980776127e-15],"object_angular_velocity_rad_s":[2.0898409569838486e-15,2.8080814188029756e-15,-2.196717386393939e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313461585583349,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855305091238389,-1.6251007203321817,1.6242421547872796,-1.5949957189165005,-1.5707809953678167,-0.4147384995314771,0.0],"actuator_force":[0.30462667819119815,-19.91757355218897,-20.374169219829582,-2.6364721447182546,0.004093585538385014,1.1502259781082103e-05,-0.2938234253111907],"issued_joint_targets_rad":[-1.9855399088018926,-1.6155761845154748,1.6310280322471964,-1.5864533654454493,-1.5707822295852418,-0.4147435433098818],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.019999999999886,"joint_targets_rad":[-1.9855399088018926,-1.6155761845154748,1.6310280322471964,-1.5864533654454493,-1.5707822295852418,-0.4147435433098818],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.039999999999875,"qpos":[-1.9855341924821264,-1.6128782973517668,1.669884363897572,-1.6274605412214231,-1.5707927210736388,-0.41472880960200575,0.0029520077822710947,0.00015606109854885217,0.0032111173720547515,-0.003446686226346377,0.002952172974909482,0.00015658747780511277,0.0032177893803986128,-0.003455370048629975,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.27442416774642e-16,-1.1101210396795604e-16,-1.1652373157782624e-07],"qvel":[-0.00014154027861185457,-0.015019030601495476,-0.19725508381953602,0.20628057599812583,3.52083930843105e-05,-7.424976373963759e-05,-0.0003064485557902043,-6.357952124547202e-05,-0.0002378738262318303,0.0004964780244589323,-0.0002834779223654553,-1.1647974405374122e-05,6.954568461060685e-05,0.0005614544138362326,1.6895402544863925e-16,-1.9221922575319055e-16,6.381861556391759e-15,-8.86224470141386e-16,2.2466426218096728e-17,-4.010651207325674e-08],"joint_position_rad":[-1.9855341924821264,-1.6128782973517668,1.669884363897572,-1.6274605412214231,-1.5707927210736388,-0.41472880960200575],"joint_velocity_rad_s":[-0.00014154027861185457,-0.015019030601495476,-0.19725508381953602,0.20628057599812583,3.52083930843105e-05,-7.424976373963759e-05],"linkage_position_rad":[0.0029520077822710947,0.00015606109854885217,0.0032111173720547515,-0.003446686226346377,0.002952172974909482,0.00015658747780511277,0.0032177893803986128,-0.003455370048629975],"tcp_position_m":[0.06811443402859141,0.4872583032627559,0.30945529375323894],"tcp_quaternion_wxyz":[6.0235010474011105e-05,0.707109972876321,0.7071035688213432,-0.000159970970487465],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.27442416774642e-16,-1.1101210396795604e-16,-1.1652373157782624e-07],"object_linear_velocity_m_s":[1.6895402544863925e-16,-1.9221922575319055e-16,6.381861556391759e-15],"object_angular_velocity_rad_s":[-8.862244560010032e-16,2.2466622527917984e-17,-4.010651207325675e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313337531570849,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855354534459262,-1.625156115847706,1.620576332042326,-1.5912733468028983,-1.5707809701896098,-0.4147435459937304,0.0],"actuator_force":[0.054094183845336374,-18.54802475128008,-19.71403018267756,-2.5344603905500662,0.0023546027060774577,5.678051161339681e-05,-0.2922594054682506],"issued_joint_targets_rad":[-1.9855440405541773,-1.6156408112916525,1.626754762747582,-1.582116206521009,-1.5707820885569144,-0.4147476689170791],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.039999999999875,"joint_targets_rad":[-1.9855440405541773,-1.6156408112916525,1.626754762747582,-1.582116206521009,-1.5707820885569144,-0.4147476689170791],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.059999999999864,"qpos":[-1.9855343207726743,-1.6131453308510961,1.6657882289585617,-1.6231531722598116,-1.5707917163607574,-0.41473059817867663,0.0029486037374498925,0.00015597265178567566,0.003208047830341023,-0.003443234304450762,0.002948742445914403,0.00015650903189427212,0.003215247626913747,-0.003451372043862712,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.1633780885428352e-16,-1.0322305184383589e-16,-1.1689358433306621e-07],"qvel":[-0.00011978450046769977,-0.014152021500650544,-0.1982191864201438,0.20639069362360932,3.8465988321308404e-05,-8.611982142495625e-05,-0.00027494642251132186,-4.2416130890257625e-05,-0.00023231913667832793,0.00038314608468124764,-0.00025506617199000603,3.928215757775458e-06,4.3436918899760466e-07,0.0004016470634823947,1.996475116238939e-16,-2.1058684078818518e-16,6.388800450295667e-15,-2.049629422293522e-15,-3.488853453732351e-15,-7.322436289006509e-08],"joint_position_rad":[-1.9855343207726743,-1.6131453308510961,1.6657882289585617,-1.6231531722598116,-1.5707917163607574,-0.41473059817867663],"joint_velocity_rad_s":[-0.00011978450046769977,-0.014152021500650544,-0.1982191864201438,0.20639069362360932,3.8465988321308404e-05,-8.611982142495625e-05],"linkage_position_rad":[0.0029486037374498925,0.00015597265178567566,0.003208047830341023,-0.003443234304450762,0.002948742445914403,0.00015650903189427212,0.003215247626913747,-0.003451372043862712],"tcp_position_m":[0.0681120893417477,0.4872534648590133,0.311163870518939],"tcp_quaternion_wxyz":[4.966037530317851e-05,0.7071093889903176,0.7071041589043984,-0.0001341480137324142],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.1633780885428352e-16,-1.0322305184383589e-16,-1.1689358433306621e-07],"object_linear_velocity_m_s":[1.996475116238939e-16,-2.1058684078818518e-16,6.388800450295667e-15],"object_angular_velocity_rad_s":[-2.049630222825755e-15,-3.488852991592723e-15,-7.322436289006512e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931335582582618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855395785589052,-1.6252173768500404,1.6163007936733516,-1.5869363321516208,-1.5707808258819167,-0.4147476715338843,0.0],"actuator_force":[0.037398227725589095,-18.483283397628384,-19.687196002362725,-2.530649308265538,0.0015986405882131294,7.530453865456366e-05,-0.29221724619570816],"issued_joint_targets_rad":[-1.9855438216686163,-1.6156878359778097,1.6224446277445506,-1.577759928193897,-1.5707819277810722,-0.4147474543947162],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.059999999999864,"joint_targets_rad":[-1.9855438216686163,-1.6156878359778097,1.6224446277445506,-1.577759928193897,-1.5707819277810722,-0.4147474543947162],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.079999999999853,"qpos":[-1.985534216464326,-1.6133921588235973,1.6616717452650842,-1.618841550821454,-1.570790766717566,-0.4147322152477021,0.002945788944840048,0.00015597405590409496,0.0032052923183105426,-0.003440590151154708,0.002945922716290089,0.00015651341771789323,0.0032125385592522266,-0.0034486979549400425,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-9.042214488199043e-17,-8.604880947446818e-17,-1.1717134178354112e-07],"qvel":[-0.00012067986183521764,-0.013143370414786571,-0.1991978857055473,0.20661337855403678,3.489065811871595e-05,-7.68718122786172e-05,-0.0002477199593724211,-4.2792230308992925e-05,-0.00020981065146956403,0.00036211313013701743,-0.00022685623703082745,4.143538973429636e-06,1.964153011812041e-05,0.0003737939526375909,1.0596042324265797e-16,-1.1299835756848201e-16,6.5317416647161564e-15,4.404440307247284e-15,3.756730921327617e-15,-7.93326007257034e-09],"joint_position_rad":[-1.985534216464326,-1.6133921588235973,1.6616717452650842,-1.618841550821454,-1.570790766717566,-0.4147322152477021],"joint_velocity_rad_s":[-0.00012067986183521764,-0.013143370414786571,-0.1991978857055473,0.20661337855403678,3.489065811871595e-05,-7.68718122786172e-05],"linkage_position_rad":[0.002945788944840048,0.00015597405590409496,0.0032052923183105426,-0.003440590151154708,0.002945922716290089,0.00015651341771789323,0.0032125385592522266,-0.0034486979549400425],"tcp_position_m":[0.0681096763473434,0.487248709609271,0.3128728216342694],"tcp_quaternion_wxyz":[3.9855730378273185e-05,0.7071087827675531,0.7071047698847921,-0.00011023014420221359],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-9.042214488199043e-17,-8.604880947446818e-17,-1.1717134178354112e-07],"object_linear_velocity_m_s":[1.0596042324265797e-16,-1.1299835756848201e-16,6.5317416647161564e-15],"object_angular_velocity_rad_s":[4.404441188974866e-15,3.756729887744469e-15,-7.933260072570343e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313380449076215,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855393596764934,-1.6252612567700895,1.611988565683982,-1.582580194092047,-1.5707806619587585,-0.41474745694655474,0.0],"actuator_force":[0.03798552039916103,-18.48084772706943,-19.687204879985075,-2.5306594907001454,0.001563313591759652,6.633180151993656e-05,-0.2922127020744906],"issued_joint_targets_rad":[-1.9855434277265946,-1.6157171041707141,1.6181168928065033,-1.5734037897370663,-1.5707817687474113,-0.41474706488457885],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.079999999999853,"joint_targets_rad":[-1.9855434277265946,-1.6157171041707141,1.6181168928065033,-1.5734037897370663,-1.5707817687474113,-0.41474706488457885],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.099999999999842,"qpos":[-1.9855340892259223,-1.6136182229308682,1.6575352438412587,-1.6145256703213753,-1.5707898911857394,-0.41473364080791625,0.0029434766840007367,0.00015597360903212901,0.003202999071428301,-0.003438391372419507,0.0029436108860657994,0.00015651591251972816,0.0032102601837432293,-0.003446497950256556,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.0433150569464418e-16,-9.293879698397696e-17,-1.176221917486505e-07],"qvel":[-0.00012301537273621643,-0.012141547093729145,-0.20016050318260487,0.20681598594432202,3.132877204787518e-05,-6.770413553053782e-05,-0.00022466525230740948,-4.27723438772144e-05,-0.00018639383364917004,0.0003404542250864245,-0.00020375257039034801,4.252653105036107e-06,4.308683702640835e-05,0.0003522319315238067,1.1766141973337795e-16,-1.311234757311941e-16,6.547007231304756e-15,2.7990619774512545e-15,3.0071218688462427e-15,-1.4484129494834539e-08],"joint_position_rad":[-1.9855340892259223,-1.6136182229308682,1.6575352438412587,-1.6145256703213753,-1.5707898911857394,-0.41473364080791625],"joint_velocity_rad_s":[-0.00012301537273621643,-0.012141547093729145,-0.20016050318260487,0.20681598594432202,3.132877204787518e-05,-6.770413553053782e-05],"linkage_position_rad":[0.0029434766840007367,0.00015597360903212901,0.003202999071428301,-0.003438391372419507,0.0029436108860657994,0.00015651591251972816,0.0032102601837432293,-0.003446497950256556],"tcp_position_m":[0.06810729763457851,0.4872440121114898,0.31458169311680767],"tcp_quaternion_wxyz":[3.099219364891608e-05,0.7071082354954322,0.7071053206407664,-8.863147455108579e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.0433150569464418e-16,-9.293879698397696e-17,-1.176221917486505e-07],"object_linear_velocity_m_s":[1.1766141973337795e-16,-1.311234757311941e-16,6.547007231304756e-15],"object_angular_velocity_rad_s":[2.7990626875519833e-15,3.0071212073602494e-15,-1.4484129494834546e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313401225827388,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98553896629184,-1.6252876358414825,1.6076589191556216,-1.5782241794759195,-1.5707805000217507,-0.41474706737743633,0.0],"actuator_force":[0.0394520172594639,-18.482206983737342,-19.688448098232584,-2.5308531717043934,0.0015627047896487056,5.712879300290297e-05,-0.29221228938983806],"issued_joint_targets_rad":[-1.9855430464195,-1.6157286256564192,1.6137726309878344,-1.569048849209309,-1.5707816121984446,-0.41474668759361694],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.099999999999842,"joint_targets_rad":[-1.9855430464195,-1.6157286256564192,1.6137726309878344,-1.569048849209309,-1.5707816121984446,-0.41474668759361694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.11999999999983,"qpos":[-1.9855339526461304,-1.6138237717863122,1.6533790621793008,-1.6102060301907597,-1.5707890842569532,-0.4147348935010897,0.002941581362446956,0.00015597372682729004,0.0032011188066672527,-0.0034365906208369606,0.0029417159267377253,0.0001565184830746612,0.003208391411869529,-0.003444694509671627,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.3236040089246866e-16,-1.001018648696629e-16,-1.1807275213080128e-07],"qvel":[-0.00012550990934642639,-0.011153407896660401,-0.20110696116267837,0.20699368372822288,2.8081407879143154e-05,-5.947115798786825e-05,-0.00020572004273018457,-4.2794820960692755e-05,-0.00016670695646595974,0.0003226750852707895,-0.00018477541343895547,4.377288825736932e-06,6.318809744807929e-05,0.00033438269768919845,1.3376997781177369e-16,-1.7572825460616725e-16,6.6052939400975756e-15,1.193561836869991e-15,1.5815383401273692e-15,-2.6444362759326876e-08],"joint_position_rad":[-1.9855339526461304,-1.6138237717863122,1.6533790621793008,-1.6102060301907597,-1.5707890842569532,-0.4147348935010897],"joint_velocity_rad_s":[-0.00012550990934642639,-0.011153407896660401,-0.20110696116267837,0.20699368372822288,2.8081407879143154e-05,-5.947115798786825e-05],"linkage_position_rad":[0.002941581362446956,0.00015597372682729004,0.0032011188066672527,-0.0034365906208369606,0.0029417159267377253,0.0001565184830746612,0.003208391411869529,-0.003444694509671627],"tcp_position_m":[0.06810495862703361,0.4872393722166153,0.31629045975970066],"tcp_quaternion_wxyz":[2.2992827725972117e-05,0.707107745525861,0.7071058130897567,-6.91616720853152e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.3236040089246866e-16,-1.001018648696629e-16,-1.1807275213080128e-07],"object_linear_velocity_m_s":[1.3376997781177369e-16,-1.7572825460616725e-16,6.6052939400975756e-15],"object_angular_velocity_rad_s":[1.1935622156373866e-15,1.5815380512726906e-15,-2.6444362759326892e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313418275039076,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985538585748471,-1.625296520341981,1.6033129269621613,-1.5738693472296663,-1.57078034079769,-0.41474669003312975,0.0],"actuator_force":[0.04093775905721486,-18.4841339526738,-19.689485969207453,-2.5310268922755768,0.0015635888437373069,4.8849778778503605e-05,-0.2922123871783884],"issued_joint_targets_rad":[-1.9855426870373445,-1.615722416042764,1.6094118304942853,-1.5646950817012444,-1.5707814578506036,-0.41474633182174364],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.11999999999983,"joint_targets_rad":[-1.9855426870373445,-1.615722416042764,1.6094118304942853,-1.5646950817012444,-1.5707814578506036,-0.41474633182174364],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.13999999999982,"qpos":[-1.9855338090276107,-1.61400907263728,1.6492035021142706,-1.6058831027747533,-1.5707883396431932,-0.41473599191599514,0.002940027943279556,0.0001559737413317442,0.003199578804418601,-0.0034351146191636925,0.0029401628481870437,0.00015652091971399208,0.003206862341833942,-0.0034432160472365456,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.6065651434228997e-16,-8.808873692684592e-17,-1.1850509921420398e-07],"qvel":[-0.00012808697130491445,-0.010178106588601181,-0.20203903918594396,0.20714887327628467,2.5136731609664243e-05,-5.2126124513317234e-05,-0.00019019445734032043,-4.282841740073186e-05,-0.00015039958837953924,0.0003081961395351877,-0.00016921560084726011,4.493724641594229e-06,7.994171534277892e-05,0.00031982886238988176,1.285620338836318e-16,-2.6066655052468247e-16,6.631661736932425e-15,-3.597517218787736e-15,9.56038429281628e-16,-4.828072836522371e-08],"joint_position_rad":[-1.9855338090276107,-1.61400907263728,1.6492035021142706,-1.6058831027747533,-1.5707883396431932,-0.41473599191599514],"joint_velocity_rad_s":[-0.00012808697130491445,-0.010178106588601181,-0.20203903918594396,0.20714887327628467,2.5136731609664243e-05,-5.2126124513317234e-05],"linkage_position_rad":[0.002940027943279556,0.0001559737413317442,0.003199578804418601,-0.0034351146191636925,0.0029401628481870437,0.00015652091971399208,0.003206862341833942,-0.0034432160472365456],"tcp_position_m":[0.06810265929097285,0.48723479113440343,0.3179991194146493],"tcp_quaternion_wxyz":[1.5775407819884454e-05,0.7071073072148841,0.7071062530978263,-5.1617865265720345e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.6065651434228997e-16,-8.808873692684592e-17,-1.1850509921420398e-07],"object_linear_velocity_m_s":[1.285620338836318e-16,-2.6066655052468247e-16,6.631661736932425e-15],"object_angular_velocity_rad_s":[-3.597516983690805e-15,9.560392664166439e-16,-4.8280728365223746e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313432218070697,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855382272941073,-1.625287920819448,1.598950576857783,-1.569515673876366,-1.5707801839822468,-0.4147463342130267,0.0],"actuator_force":[0.04239825552849652,-18.486453728895412,-19.690234838597462,-2.531172878434859,0.00156415731225934,4.146393555970462e-05,-0.2922124892823921],"issued_joint_targets_rad":[-1.985542348888059,-1.6156984897206135,1.605034420068147,-1.560342404220467,-1.5707813053979878,-0.41474599691161035],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.13999999999982,"joint_targets_rad":[-1.985542348888059,-1.6156984897206135,1.605034420068147,-1.560342404220467,-1.5707813053979878,-0.41474599691161035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.159999999999808,"qpos":[-1.9855336599113242,-1.6141743705032952,1.6450088296314642,-1.6015573084693975,-1.5707876515598027,-0.41473695284370016,0.0029387547256406825,0.00015597361939738454,0.003198317800239282,-0.0034339045463906877,0.002938889957203435,0.0001565231807986191,0.003205611878757077,-0.0034420036422298885,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.562964915481998e-16,-6.371595376770918e-17,-1.1882780689871012e-07],"qvel":[-0.00013073524292371095,-0.00921448837270712,-0.20295844929801787,0.2072840894149401,2.2468084503448434e-05,-4.558091210038788e-05,-0.00017747142772488,-4.286098057815137e-05,-0.00013687327118439455,0.0002963780356289474,-0.00015645808262088604,4.612356263250298e-06,9.392312004719419e-05,0.00030794071052597826,1.1126293551715332e-16,-3.693124995773042e-16,6.646927303521023e-15,-1.1371538241629984e-14,6.110387042785473e-16,-8.814841759249347e-08],"joint_position_rad":[-1.9855336599113242,-1.6141743705032952,1.6450088296314642,-1.6015573084693975,-1.5707876515598027,-0.41473695284370016],"joint_velocity_rad_s":[-0.00013073524292371095,-0.00921448837270712,-0.20295844929801787,0.2072840894149401,2.2468084503448434e-05,-4.558091210038788e-05],"linkage_position_rad":[0.0029387547256406825,0.00015597361939738454,0.003198317800239282,-0.0034339045463906877,0.002938889957203435,0.0001565231807986191,0.003205611878757077,-0.0034420036422298885],"tcp_position_m":[0.06810039941550099,0.48723027024761956,0.319707671292404],"tcp_quaternion_wxyz":[9.26488755710492e-06,0.7071069152620748,0.7071066461432833,-3.5814952649241203e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.562964915481998e-16,-6.371595376770918e-17,-1.1882780689871012e-07],"object_linear_velocity_m_s":[1.1126293551715332e-16,-3.693124995773042e-16,6.646927303521023e-15],"object_angular_velocity_rad_s":[-1.1371538085179977e-14,6.11041379233853e-16,-8.814841759249354e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313443610990575,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855378902133474,-1.6252618469783222,1.5945717971460642,-1.5651630777527232,-1.5707800292502756,-0.4147459992592947,0.0],"actuator_force":[0.04383349312365681,-18.489157600970884,-19.690685251593095,-2.5312935831568666,0.001564346313216447,3.488341280899476e-05,-0.29221258659047705],"issued_joint_targets_rad":[-1.9855420308387248,-1.6156568593973206,1.600640323556779,-1.555990730340489,-1.5707811545630053,-0.4147456817637877],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.159999999999808,"joint_targets_rad":[-1.9855420308387248,-1.6156568593973206,1.600640323556779,-1.555990730340489,-1.5707811545630053,-0.4147456817637877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.179999999999797,"qpos":[-1.9855335066594564,-1.614319888036445,1.6407952779696104,-1.5972290191902152,-1.5707870147458618,-0.4147377913624803,0.0029377111456749603,0.00015597338759728492,0.0031972854785464306,-0.003432912419980588,0.002937846690413598,0.00015652529535092267,0.0032045897538108365,-0.0034410092862494465,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.4914102459125612e-16,-4.281954332598586e-17,-1.1916217484357908e-07],"qvel":[-0.00013344765537556114,-0.008261481265510903,-0.2038667526978915,0.20740164523901605,2.005035138933875e-05,-3.975380769991601e-05,-0.000167045395143394,-4.289277814308851e-05,-0.00012562731175521218,0.00028674190320889876,-0.00014599717211260914,4.733452430735838e-06,0.00010563232481553292,0.0002982361350781175,5.64883295907281e-17,-1.8067478490155609e-16,6.714928463779316e-15,5.8193996954528495e-15,2.3694564626444877e-15,-9.550159183995737e-09],"joint_position_rad":[-1.9855335066594564,-1.614319888036445,1.6407952779696104,-1.5972290191902152,-1.5707870147458618,-0.4147377913624803],"joint_velocity_rad_s":[-0.00013344765537556114,-0.008261481265510903,-0.2038667526978915,0.20740164523901605,2.005035138933875e-05,-3.975380769991601e-05],"linkage_position_rad":[0.0029377111456749603,0.00015597338759728492,0.0031972854785464306,-0.003432912419980588,0.002937846690413598,0.00015652529535092267,0.0032045897538108365,-0.0034410092862494465],"tcp_position_m":[0.06809817888859632,0.487225811041223,0.3214161147475012],"tcp_quaternion_wxyz":[3.3933671132367254e-06,0.7071065648908341,0.7071069971445874,-2.158549416619351e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.4914102459125612e-16,-4.281954332598586e-17,-1.1916217484357908e-07],"object_linear_velocity_m_s":[5.64883295907281e-17,-1.8067478490155609e-16,6.714928463779316e-15],"object_angular_velocity_rad_s":[5.819400260969727e-15,2.3694550728911336e-15,-9.550159183995745e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313452913711023,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855375733528875,-1.6252183072769115,1.5901765112621529,-1.5608114736343959,-1.5707798763066736,-0.41474568407206575,0.0],"actuator_force":[0.04524567528824264,-18.492245974728576,-19.690832335758387,-2.531391745991982,0.0015641844552192197,2.902597725551459e-05,-0.29221267896814784],"issued_joint_targets_rad":[-1.9855417318216289,-1.6155975361092232,1.5962294628574405,-1.5516399731346489,-1.5707810050956275,-0.41474538534150923],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.179999999999797,"joint_targets_rad":[-1.9855417318216289,-1.6155975361092232,1.5962294628574405,-1.5516399731346489,-1.5707810050956275,-0.41474538534150923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.199999999999786,"qpos":[-1.9855333504994048,-1.6144458274084648,1.6365630505791444,-1.592898562904536,-1.5707864244203147,-0.41473852100561437,0.0029368557628595636,0.00015597306624265592,0.0031964405857903017,-0.003432098901738351,0.0029369916087261107,0.00015652728848733867,0.003203754751848157,-0.003440193632930447,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.7462434785126965e-16,-1.5526447239250882e-17,-1.19644304768215e-07],"qvel":[-0.00013621794574399977,-0.0073181081769829745,-0.20476536953146546,0.2075036348633496,1.786064935158077e-05,-3.45712180828888e-05,-0.00015850197534054237,-4.2924033924853335e-05,-0.00011624933463622313,0.0002788945860766669,-0.00013741848148074025,4.856774697375193e-06,0.00011548142520372762,0.0002903219265939996,2.099622300423838e-17,-2.1798501524491149e-16,6.7246429152447865e-15,4.869538157461068e-15,1.5214055474090499e-15,-1.7436178954416898e-08],"joint_position_rad":[-1.9855333504994048,-1.6144458274084648,1.6365630505791444,-1.592898562904536,-1.5707864244203147,-0.41473852100561437],"joint_velocity_rad_s":[-0.00013621794574399977,-0.0073181081769829745,-0.20476536953146546,0.2075036348633496,1.786064935158077e-05,-3.45712180828888e-05],"linkage_position_rad":[0.0029368557628595636,0.00015597306624265592,0.0031964405857903017,-0.003432098901738351,0.0029369916087261107,0.00015652728848733867,0.003203754751848157,-0.003440193632930447],"tcp_position_m":[0.06809599770309373,0.4872214150921193,0.3231244491955806],"tcp_quaternion_wxyz":[-1.9005544606860692e-06,0.7071062518081809,0.7071073105074769,-8.778106173043291e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.7462434785126965e-16,-1.5526447239250882e-17,-1.19644304768215e-07],"object_linear_velocity_m_s":[2.099622300423838e-17,-2.1798501524491149e-16,6.7246429152447865e-15],"object_angular_velocity_rad_s":[4.869538522057394e-15,1.5214043760944302e-15,-1.7436178954416914e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313460503373747,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855372756265073,-1.6251573089051743,1.5857646407170403,-1.5564607756803246,-1.570779724885499,-0.41474538761417656,0.0],"actuator_force":[0.04663692409258147,-18.495719722625836,-19.69067191162185,-2.5314698742292876,0.001563702472708428,2.381752719315955e-05,-0.2922127662951773],"issued_joint_targets_rad":[-1.9855414508534064,-1.6155205292478694,1.5918017580156922,-1.547290045268903,-1.5707808567703099,-0.4147451066898711],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.199999999999786,"joint_targets_rad":[-1.9855414508534064,-1.6155205292478694,1.5918017580156922,-1.547290045268903,-1.5707808567703099,-0.4147451066898711],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.219999999999775,"qpos":[-1.985533192536901,-1.6145523721289157,1.6323123237992325,-1.5885662277997745,-1.570785876238545,-0.41473915391723626,0.002936154614593604,0.00015597267192755964,0.003195749311468809,-0.003431431752212365,0.002936290750837096,0.0001565291810437795,0.0032030730963758707,-0.003439524434333559,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.640376434385218e-16,4.4935214520397e-18,-1.2006640032987974e-07],"qvel":[-0.0001390404165786108,-0.006383478955079945,-0.20565559244694429,0.20759195369846337,1.5878173807484067e-05,-2.996698004982426e-05,-0.0001515015402064348,-4.295491622026709e-05,-0.00010840116695114215,0.00027251368592707355,-0.00013038238581327284,4.982148773937985e-06,0.00012380843438278906,0.00028387561565497633,-8.811325055279162e-18,-2.2643860401084326e-16,6.7773785089144824e-15,3.0869358125942164e-15,1.3222193734108974e-15,-3.183405958718847e-08],"joint_position_rad":[-1.985533192536901,-1.6145523721289157,1.6323123237992325,-1.5885662277997745,-1.570785876238545,-0.41473915391723626],"joint_velocity_rad_s":[-0.0001390404165786108,-0.006383478955079945,-0.20565559244694429,0.20759195369846337,1.5878173807484067e-05,-2.996698004982426e-05],"linkage_position_rad":[0.002936154614593604,0.00015597267192755964,0.003195749311468809,-0.003431431752212365,0.002936290750837096,0.0001565291810437795,0.0032030730963758707,-0.003439524434333559],"tcp_position_m":[0.06809385594879541,0.48721708406338543,0.3248326740960633],"tcp_quaternion_wxyz":[-6.672399152400686e-06,0.7071059721571897,0.7071075901781738,2.7440729063314604e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.640376434385218e-16,4.4935214520397e-18,-1.2006640032987974e-07],"object_linear_velocity_m_s":[-8.811325055279162e-18,-2.2643860401084326e-16,6.7773785089144824e-15],"object_angular_velocity_rad_s":[3.0869361298162766e-15,1.3222186216923505e-15,-3.1834059587188506e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313466689057391,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855369960339824,-1.6250788577744293,1.5813361051947612,-1.552110897536679,-1.5707795747467472,-0.41474510893036387,0.0],"actuator_force":[0.048009172468482575,-18.499579708995043,-19.69020023016492,-2.5315302382986147,0.001562928518183071,1.919144116868665e-05,-0.29221284864143643],"issued_joint_targets_rad":[-1.9855411870280448,-1.6154258465822777,1.5873571271711575,-1.5429408589449978,-1.570780709383159,-0.41474484492896363],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.219999999999775,"joint_targets_rad":[-1.9855411870280448,-1.6154258465822777,1.5873571271711575,-1.5429408589449978,-1.570780709383159,-0.41474484492896363],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.239999999999764,"qpos":[-1.9855330337664816,-1.6146396886956877,1.6280432492726258,-1.5842322660502823,-1.5707853662526494,-0.4147397009927115,0.00293557986689589,0.00015597221814284322,0.003195183946105456,-0.0034308845500276783,0.0029357162839374323,0.000156530990378536,0.0032025171086915664,-0.003438975261169371,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.48364346040428e-16,1.493744074992093e-17,-1.2046086064045165e-07],"qvel":[-0.00014190987707768843,-0.005456782131651137,-0.20653859908777278,0.20766831773235045,1.4084014889858099e-05,-2.588161672461532e-05,-0.00014576574781639717,-4.298556796317668e-05,-0.0001018056377015576,0.00026733500817208026,-0.00012461054477343647,5.109431287545898e-06,0.00013089039933932998,0.0002786329278506281,-2.825580796310676e-17,-2.5085452959755275e-16,6.799582969406989e-15,-1.459904210274005e-15,1.0569280197950202e-15,-5.8120953704936404e-08],"joint_position_rad":[-1.9855330337664816,-1.6146396886956877,1.6280432492726258,-1.5842322660502823,-1.5707853662526494,-0.4147397009927115],"joint_velocity_rad_s":[-0.00014190987707768843,-0.005456782131651137,-0.20653859908777278,0.20766831773235045,1.4084014889858099e-05,-2.588161672461532e-05],"linkage_position_rad":[0.00293557986689589,0.00015597221814284322,0.003195183946105456,-0.0034308845500276783,0.0029357162839374323,0.000156530990378536,0.0032025171086915664,-0.003438975261169371],"tcp_position_m":[0.06809175380486926,0.48721281969991403,0.3265407889407672],"tcp_quaternion_wxyz":[-1.0972372533722372e-05,0.7071057224734155,0.7071078396915288,1.3104774589202365e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.48364346040428e-16,1.493744074992093e-17,-1.2046086064045165e-07],"object_linear_velocity_m_s":[-2.825580796310676e-17,-2.5085452959755275e-16,6.799582969406989e-15],"object_angular_velocity_rad_s":[-1.4599039573734054e-15,1.0569283542714715e-15,-5.812095370493647e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313471724044899,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855367336539218,-1.6249829585063138,1.5768908224970224,-1.5477617522901963,-1.570779425673385,-0.4147448471403929,0.0],"actuator_force":[0.04936417595081366,-18.503826768591352,-19.689413916098147,-2.531574893191987,0.0015618881433283605,1.5087831769733384e-05,-0.2922129260787169],"issued_joint_targets_rad":[-1.9855409395091492,-1.6153134942764604,1.5828954864982487,-1.538592325841499,-1.570780562749451,-0.41474459924628526],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.239999999999764,"joint_targets_rad":[-1.9855409395091492,-1.6153134942764604,1.5828954864982487,-1.538592325841499,-1.570780562749451,-0.41474459924628526],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.259999999999753,"qpos":[-1.9855328750809516,-1.6147079280877505,1.6237559561233994,-1.5798968972178329,-1.5707848908752668,-0.4147401720048342,0.0029351087084764508,0.0001559717158161356,0.0031947217803630925,-0.0034304356418218803,0.002935245397798838,0.00015653273094983692,0.003202064107359885,-0.0034385244527403735,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.261564477498066e-16,1.3602467995574236e-17,-1.2078701040701505e-07],"qvel":[-0.00014482159810461954,-0.004537277386467074,-0.207415463385208,0.20773428098956384,1.2460987407457214e-05,-2.2261661815407912e-05,-0.00014106648364387137,-4.301610710335719e-05,-9.623557601719254e-05,0.0002631420388035286,-0.00011987484462551476,5.238506948353036e-06,0.00013695439127280986,0.0002743772776799691,-2.444917301985031e-17,-2.972597062479195e-16,6.900890820404035e-15,-7.262352539173882e-15,-2.2064754365855462e-17,-1.0611418409643311e-07],"joint_position_rad":[-1.9855328750809516,-1.6147079280877505,1.6237559561233994,-1.5798968972178329,-1.5707848908752668,-0.4147401720048342],"joint_velocity_rad_s":[-0.00014482159810461954,-0.004537277386467074,-0.207415463385208,0.20773428098956384,1.2460987407457214e-05,-2.2261661815407912e-05],"linkage_position_rad":[0.0029351087084764508,0.0001559717158161356,0.0031947217803630925,-0.0034304356418218803,0.002935245397798838,0.00015653273094983692,0.003202064107359885,-0.0034385244527403735],"tcp_position_m":[0.06808969153320209,0.48720862382515107,0.3282487932447429],"tcp_quaternion_wxyz":[-1.484587261831579e-05,0.7071054996455326,0.7071080622140935,2.2415859249715167e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.261564477498066e-16,1.3602467995574236e-17,-1.2078701040701505e-07],"object_linear_velocity_m_s":[-2.444917301985031e-17,-2.972597062479195e-16,6.900890820404035e-15],"object_angular_velocity_rad_s":[-7.262352547390785e-15,-2.2063026744128085e-17,-1.0611418409643326e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313475815892114,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855364876358856,-1.624869614420182,1.572428708482901,-1.5434132524183968,-1.5707792774687497,-0.4147446014314679,0.0],"actuator_force":[0.05070352937354983,-18.508461710275697,-19.688309926913462,-2.5316056992382983,0.0015606045179765715,1.1452864697503173e-05,-0.2922129986724175],"issued_joint_targets_rad":[-1.9855407075228069,-1.6151834769023619,1.5784167501491646,-1.5342443570599567,-1.5707804167014492,-0.41474436888975774],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.259999999999753,"joint_targets_rad":[-1.9855407075228069,-1.6151834769023619,1.5784167501491646,-1.5342443570599567,-1.5707804167014492,-0.41474436888975774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.279999999999742,"qpos":[-1.9855327172800044,-1.6147572271146522,1.6194505529205614,-1.575560311321162,-1.5707844468466636,-0.4147405757172563,0.0029347224443774297,0.00015597117378514014,0.003194344202785274,-0.0034300672818297112,0.002934859398424945,0.00015653441481942412,0.003201695506232278,-0.00343815425648558,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.1462378208543073e-16,9.670004716458151e-18,-1.211895267836764e-07],"qvel":[-0.00014777127139927975,-0.003624288716118563,-0.2082871657566724,0.20779125129506054,1.099347560835203e-05,-1.905905140525655e-05,-0.00013721679687826808,-4.304663099795721e-05,-9.150478832645442e-05,0.00025975734002826965,-0.000115988334602161,5.369284145046887e-06,0.0001421865255698462,0.0002709311616713035,-1.3338870795245284e-17,-1.4168858687223938e-16,6.966116423100765e-15,4.78845797578867e-15,-5.682476035100148e-16,-1.1496602860027841e-08],"joint_position_rad":[-1.9855327172800044,-1.6147572271146522,1.6194505529205614,-1.575560311321162,-1.5707844468466636,-0.4147405757172563],"joint_velocity_rad_s":[-0.00014777127139927975,-0.003624288716118563,-0.2082871657566724,0.20779125129506054,1.099347560835203e-05,-1.905905140525655e-05],"linkage_position_rad":[0.0029347224443774297,0.00015597117378514014,0.003194344202785274,-0.0034300672818297112,0.002934859398424945,0.00015653441481942412,0.003201695506232278,-0.00343815425648558],"tcp_position_m":[0.06808766947263822,0.4872044983387738,0.3299566865387831],"tcp_quaternion_wxyz":[-1.833395006412186e-05,0.7071053008798257,0.7071082605826376,3.077845443699389e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.1462378208543073e-16,9.670004716458151e-18,-1.211895267836764e-07],"object_linear_velocity_m_s":[-1.3338870795245284e-17,-1.4168858687223938e-16,6.966116423100765e-15],"object_angular_velocity_rad_s":[4.788457837834875e-15,-5.682487667674793e-16,-1.1496602860027856e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313479134681138,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985536257193114,-1.6247388275188104,1.5679496770109058,-1.5390653097440425,-1.570779129954256,-0.4147443710512445,0.0],"actuator_force":[0.052028682340278465,-18.51348532186921,-19.686885516642178,-2.531624340946223,0.0015590986430424891,8.238146421035708e-06,-0.2922130664827166],"issued_joint_targets_rad":[-1.985540490351072,-1.6150357974483993,1.573920830198776,-1.5298968630757979,-1.570780271086481,-0.4147441531613543],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.279999999999742,"joint_targets_rad":[-1.985540490351072,-1.6150357974483993,1.573920830198776,-1.5298968630757979,-1.570780271086481,-0.4147441531613543],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.29999999999973,"qpos":[-1.9855325610780636,-1.614787709636181,1.6151271294482397,-1.5712226716067041,-1.5707840312047887,-0.41474091998642915,0.0029344057531696865,0.00015597059918413933,0.0031940359603426175,-0.0034297649267119876,0.002934542965257522,0.00015653605206877963,0.003201396075249456,-0.0034378501227927097,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.1678234889189085e-16,-8.783396575218475e-19,-1.2164621066631444e-07],"qvel":[-0.0001507549721760057,-0.0027171982435748314,-0.20915460231793706,0.2078405045062105,9.667291610894685e-06,-1.623057686139844e-05,-0.00013406347241847827,-4.30772202732525e-05,-8.7460664137798e-05,0.00025703549942602747,-0.00011279779896815705,5.5016907779268235e-06,0.00014673935427004373,0.0002681491073623995,-6.407280951559136e-19,-1.5003690126213981e-16,7.016076459208899e-15,2.680993643639275e-15,-4.802151050972891e-16,-2.0989893568606994e-08],"joint_position_rad":[-1.9855325610780636,-1.614787709636181,1.6151271294482397,-1.5712226716067041,-1.5707840312047887,-0.41474091998642915],"joint_velocity_rad_s":[-0.0001507549721760057,-0.0027171982435748314,-0.20915460231793706,0.2078405045062105,9.667291610894685e-06,-1.623057686139844e-05],"linkage_position_rad":[0.0029344057531696865,0.00015597059918413933,0.0031940359603426175,-0.0034297649267119876,0.002934542965257522,0.00015653605206877963,0.003201396075249456,-0.0034378501227927097],"tcp_position_m":[0.0680856880340055,0.48720044521518435,0.33166446836329905],"tcp_quaternion_wxyz":[-2.147372435890003e-05,0.707105123668173,0.7071084373385971,3.828398412097865e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.1678234889189085e-16,-8.783396575218475e-19,-1.2164621066631444e-07],"object_linear_velocity_m_s":[-6.407280951559136e-19,-1.5003690126213981e-16,7.016076459208899e-15],"object_angular_velocity_rad_s":[2.6809935268433754e-15,-4.802157622652089e-16,-2.0989893568607027e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313481819783978,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855360415958925,-1.6245905984723268,1.5634536398830194,-1.5347178353935218,-1.5707789829673746,-0.41474415530145536,0.0],"actuator_force":[0.05334095321268251,-18.518898374862147,-19.685138203265524,-2.5316323440299584,0.001557389546064769,5.400173051839374e-06,-0.2922131295644273],"issued_joint_targets_rad":[-1.9855402873260115,-1.614870457323768,1.569407636590684,-1.525549753693231,-1.570780125765244,-0.4147439514112919],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.29999999999973,"joint_targets_rad":[-1.9855402873260115,-1.614870457323768,1.569407636590684,-1.525549753693231,-1.570780125765244,-0.4147439514112919],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.31999999999972,"qpos":[-1.9855324065988813,-1.614799488997884,1.6107858191499491,-1.566884116888225,-1.5707836412367029,-0.41474121185352536,0.002934146109880875,0.00015597009345821205,0.0031937840577203214,-0.003429517299482171,0.0029342835449724662,0.00015653768490976066,0.0032011527704995644,-0.003437600518244595,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.284147116776048e-16,6.89162317452362e-19,-1.2209313975453661e-07],"qvel":[-0.0001538057820691074,-0.0018150937530064125,-0.21001871398800054,0.20788332068664347,8.477765938000215e-06,-1.3737447893298846e-05,-0.0001314652859835243,-4.310846794126928e-05,-8.393191815867856e-05,0.00025482334539697984,-0.00011015933358987836,5.64613221976996e-06,0.00015082807030851868,0.000265890029709049,-3.1520322282661313e-18,-1.8658774305486507e-16,7.046607592386091e-15,-8.701105031292786e-17,2.655663754150399e-16,-3.832224504799049e-08],"joint_position_rad":[-1.9855324065988813,-1.614799488997884,1.6107858191499491,-1.566884116888225,-1.5707836412367029,-0.41474121185352536],"joint_velocity_rad_s":[-0.0001538057820691074,-0.0018150937530064125,-0.21001871398800054,0.20788332068664347,8.477765938000215e-06,-1.3737447893298846e-05],"linkage_position_rad":[0.002934146109880875,0.00015597009345821205,0.0031937840577203214,-0.003429517299482171,0.0029342835449724662,0.00015653768490976066,0.0032011527704995644,-0.003437600518244595],"tcp_position_m":[0.06808374109985575,0.48719645213674495,0.3333721089393642],"tcp_quaternion_wxyz":[-2.4287961810809534e-05,0.7071049655790762,0.7071085949411533,4.498728348797004e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.284147116776048e-16,6.89162317452362e-19,-1.2209313975453661e-07],"object_linear_velocity_m_s":[-3.1520322282661313e-18,-1.8658774305486507e-16,7.046607592386091e-15],"object_angular_velocity_rad_s":[-8.701098551808192e-17,2.6556638681965697e-16,-3.832224504799055e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313483997429137,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985535840178171,-1.6244249264706039,1.558940506832279,-1.5303707395792858,-1.5707788363598012,-0.4147439535321681,0.0],"actuator_force":[0.05465515424793921,-18.524837444237164,-19.68313904013985,-2.5316434141947184,0.0015546618569715065,2.9054679941964423e-06,-0.29221335964480005],"issued_joint_targets_rad":[-1.9855400973648998,-1.614687489384806,1.5648771831550596,-1.5212030107039687,-1.5707799806380167,-0.4147437625740387],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.31999999999972,"joint_targets_rad":[-1.9855400973648998,-1.614687489384806,1.5648771831550596,-1.5212030107039687,-1.5707799806380167,-0.4147437625740387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.339999999999709,"qpos":[-1.9855322548331482,-1.6147926676482127,1.6064267012311246,-1.5625447698604504,-1.5707832745093007,-0.4147414575841268,0.002933933270409487,0.0001559696035964667,0.0031935786091245445,-0.0034293143241477917,0.0029340709180885613,0.0001565393130028168,0.0032009558124319604,-0.00343739553483845,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-1.2016822774752087e-16,-7.840658896145003e-19,-1.2244653842186754e-07],"qvel":[-0.00015689840218910997,-0.0009178315030583905,-0.2108799500307109,0.20792032823566112,7.406251185610713e-06,-1.1542586004945245e-05,-0.0001293302200088868,-4.3141802258495394e-05,-8.084183490890644e-05,0.0002530615998788872,-0.00010798303359891445,5.792821620356094e-06,0.00015449239510536485,0.00026408101066313844,6.41084596414925e-18,-2.252026851184524e-16,7.0549342650707794e-15,-3.5042919570507374e-15,-5.264679406293377e-16,-6.996674188547393e-08],"joint_position_rad":[-1.9855322548331482,-1.6147926676482127,1.6064267012311246,-1.5625447698604504,-1.5707832745093007,-0.4147414575841268],"joint_velocity_rad_s":[-0.00015689840218910997,-0.0009178315030583905,-0.2108799500307109,0.20792032823566112,7.406251185610713e-06,-1.1542586004945245e-05],"linkage_position_rad":[0.002933933270409487,0.0001559696035964667,0.0031935786091245445,-0.0034293143241477917,0.0029340709180885613,0.0001565393130028168,0.0032009558124319604,-0.00343739553483845],"tcp_position_m":[0.06808182777247965,0.4871925174454806,0.33507959799462983],"tcp_quaternion_wxyz":[-2.6804228373366834e-05,0.7071048247581531,0.707108735265495,5.095592514011866e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-1.2016822774752087e-16,-7.840658896145003e-19,-1.2244653842186754e-07],"object_linear_velocity_m_s":[6.41084596414925e-18,-2.252026851184524e-16,7.0549342650707794e-15],"object_angular_velocity_rad_s":[-3.5042920858692766e-15,-5.26467099268042e-16,-6.996674188547405e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485753256703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855356518421885,-1.6242418424832288,1.554410291462456,-1.5260240045635913,-1.5707786900236957,-0.4147437646776753,0.0],"actuator_force":[0.05596534279493426,-18.531217068808928,-19.68083952505276,-2.5316501751365195,0.0015516176838445972,7.118262601579772e-07,-0.29221364315686343],"issued_joint_targets_rad":[-1.9855399202359185,-1.6144869013525882,1.5603294094838738,-1.5168565669550633,-1.570779835595603,-0.4147435864317553],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.339999999999709,"joint_targets_rad":[-1.9855399202359185,-1.6144869013525882,1.5603294094838738,-1.5168565669550633,-1.570779835595603,-0.4147435864317553],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.359999999999697,"qpos":[-1.985532106464887,-1.614767339884944,1.6020498236087635,-1.558204735866556,-1.570782928811975,-0.414741662818438,0.002933758803244862,0.00015596909785834805,0.0031934114080024055,-0.003429147759496037,0.002933896660138273,0.0001565409206016495,0.003200797002738274,-0.0034372270084882892,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-9.66113482953263e-17,-2.649380370585939e-18,-1.2271193893990718e-07],"qvel":[-0.00016001650895045892,-2.5084850673487376e-05,-0.21173891864056077,0.20795235721182004,6.4402568083214e-06,-9.61639068372152e-06,-0.00012757921360336425,-4.317589118678313e-05,-7.812396822019817e-05,0.0002516710617964266,-0.00010619052034704071,5.940195935004429e-06,0.00015778935126298067,0.0002626429123407453,2.8448724731001075e-18,-1.2001165800927866e-16,6.355493759556933e-15,4.628805153803716e-15,3.4501996700414183e-17,-7.580323513917896e-09],"joint_position_rad":[-1.985532106464887,-1.614767339884944,1.6020498236087635,-1.558204735866556,-1.570782928811975,-0.414741662818438],"joint_velocity_rad_s":[-0.00016001650895045892,-2.5084850673487376e-05,-0.21173891864056077,0.20795235721182004,6.4402568083214e-06,-9.61639068372152e-06],"linkage_position_rad":[0.002933758803244862,0.00015596909785834805,0.0031934114080024055,-0.003429147759496037,0.002933896660138273,0.0001565409206016495,0.003200797002738274,-0.0034372270084882892],"tcp_position_m":[0.06807994900083589,0.4871886438968021,0.33678693465520315],"tcp_quaternion_wxyz":[-2.9051034099897402e-05,0.7071046994607051,0.7071088600713549,5.62602186797462e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-9.66113482953263e-17,-2.649380370585939e-18,-1.2271193893990718e-07],"object_linear_velocity_m_s":[2.8448724731001075e-18,-1.2001165800927866e-16,6.355493759556933e-15],"object_angular_velocity_rad_s":[4.6288051623113645e-15,3.450085921641185e-17,-7.580323513917909e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487159640432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855354763430786,-1.624041352507795,1.5498629331371565,-1.5216775636857143,-1.5707785438425004,-0.4147435885199539,0.0],"actuator_force":[0.05726684719684272,-18.53799130543257,-19.67821348698999,-2.5316496307610805,0.0015484590564938117,-1.2116895788949478e-06,-0.2922139244994047],"issued_joint_targets_rad":[-1.9855397555508143,-1.6142686895542546,1.5557642196531694,-1.5125103312079549,-1.5707796905277314,-0.41474342260943997],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.359999999999697,"joint_targets_rad":[-1.9855397555508143,-1.6142686895542546,1.5557642196531694,-1.5125103312079549,-1.5707796905277314,-0.41474342260943997],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.379999999999686,"qpos":[-1.9855319619173717,-1.6147235912726872,1.5976552208225194,-1.5538641018222825,-1.570782602128431,-0.41474183262091,0.0029336157834936967,0.00015596857712414365,0.0031932755778284454,-0.003429011013907909,0.00293375384540058,0.00015654250756659744,0.0032006694641494226,-0.0034370883421551836,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-9.639770165874189e-17,1.4779592796273084e-17,-1.2319649326386866e-07],"qvel":[-0.00016315645023395577,0.0008635960810819463,-0.21259628013907003,0.2079803056441455,5.570518963854144e-06,-7.931390395585157e-06,-0.00012614322053102896,-4.3210280689193284e-05,-7.571158266593046e-05,0.000250581791504389,-0.00010471261290237793,6.089105861005258e-06,0.00016078820722467468,0.00026150701777586895,-1.6761755097982646e-17,-1.2244417487636248e-16,6.991096441154836e-15,3.57201296099413e-15,5.883129860430136e-17,-1.3839756466308529e-08],"joint_position_rad":[-1.9855319619173717,-1.6147235912726872,1.5976552208225194,-1.5538641018222825,-1.570782602128431,-0.41474183262091],"joint_velocity_rad_s":[-0.00016315645023395577,0.0008635960810819463,-0.21259628013907003,0.2079803056441455,5.570518963854144e-06,-7.931390395585157e-06],"linkage_position_rad":[0.0029336157834936967,0.00015596857712414365,0.0031932755778284454,-0.003429011013907909,0.00293375384540058,0.00015654250756659744,0.0032006694641494226,-0.0034370883421551836],"tcp_position_m":[0.06807810564921868,0.4871848342367775,0.33849411825321307],"tcp_quaternion_wxyz":[-3.105430199782012e-05,0.7071045880512754,0.707108971005068,6.09640853437739e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-9.639770165874189e-17,1.4779592796273084e-17,-1.2319649326386866e-07],"object_linear_velocity_m_s":[-1.6761755097982646e-17,-1.2244417487636248e-16,6.991096441154836e-15],"object_angular_velocity_rad_s":[3.572012975080556e-15,5.883041581711693e-17,-1.3839756466308553e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488279245749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985535313283552,-1.6238234512984537,1.5452983357201657,-1.5173313261584007,-1.5707783976992362,-0.41474342468383396,0.0],"actuator_force":[0.05855984773279488,-18.545158483966134,-19.675258149079127,-2.531642732473756,0.0015451627010634184,-2.8924224011461774e-06,-0.2922142022775468],"issued_joint_targets_rad":[-1.9855396027834784,-1.6140328488998466,1.551181515050021,-1.5081642108756788,-1.5707795453320947,-0.4147432705934114],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.379999999999686,"joint_targets_rad":[-1.9855396027834784,-1.6140328488998466,1.551181515050021,-1.5081642108756788,-1.5707795453320947,-0.4147432705934114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.399999999999675,"qpos":[-1.9855318215528237,-1.6146614986421841,1.5932429146987233,-1.5495229374717145,-1.5707822926245862,-0.4147419715219598,0.0029334985347575517,0.00015596804385975823,0.003193165469507049,-0.003428898700596163,0.0029336367979739086,0.00015654407814194108,0.0032005675611745834,-0.0034369741443049705,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-9.604167990702484e-17,4.269238501089128e-18,-1.2362700902006627e-07],"qvel":[-0.00016631583140684858,0.0017486296775101897,-0.21345264180635132,0.20800499282082666,4.788308224288847e-06,-6.462107543370558e-06,-0.00012496549717831603,-4.3245023837291e-05,-7.354834726995576e-05,0.0002497400255597356,-0.000103492546708135,6.239564440265113e-06,0.000163545519359713,0.00026061941083700165,-3.750229428857108e-18,-1.318084488795621e-16,5.754585547478568e-15,1.8080138566762754e-15,-1.1171170200912206e-15,-2.526790033368845e-08],"joint_position_rad":[-1.9855318215528237,-1.6146614986421841,1.5932429146987233,-1.5495229374717145,-1.5707822926245862,-0.4147419715219598],"joint_velocity_rad_s":[-0.00016631583140684858,0.0017486296775101897,-0.21345264180635132,0.20800499282082666,4.788308224288847e-06,-6.462107543370558e-06],"linkage_position_rad":[0.0029334985347575517,0.00015596804385975823,0.003193165469507049,-0.003428898700596163,0.0029336367979739086,0.00015654407814194108,0.0032005675611745834,-0.0034369741443049705],"tcp_position_m":[0.06807629863899879,0.48718109129717474,0.3402011481273838],"tcp_quaternion_wxyz":[-3.283748075169142e-05,0.7071044890599794,0.707109069544166,6.51253312594051e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-9.604167990702484e-17,4.269238501089128e-18,-1.2362700902006627e-07],"object_linear_velocity_m_s":[-3.750229428857108e-18,-1.318084488795621e-16,5.754585547478568e-15],"object_angular_velocity_rad_s":[1.808013580248802e-15,-1.1171174719834225e-15,-2.52679003336885e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489163637469,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985535162129403,-1.6235881323568355,1.5407164004041087,-1.5129851998022228,-1.5707782514854949,-0.4147432726554819,0.0],"actuator_force":[0.05984517940396472,-18.552719300306762,-19.671971866688637,-2.531630447336738,0.0015417387232901092,-4.356006712669114e-06,-0.29221447641714077],"issued_joint_targets_rad":[-1.9855394614293647,-1.6137793726495056,1.546581194609225,-1.5038181124957408,-1.5707793999140311,-0.4147431298904095],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.399999999999675,"joint_targets_rad":[-1.9855394614293647,-1.6137793726495056,1.546581194609225,-1.5038181124957408,-1.5707793999140311,-0.4147431298904095],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.419999999999664,"qpos":[-1.9855316856838803,-1.6145811307480837,1.5888129153419452,-1.54518129693473,-1.5707819986329508,-0.4147420835703661,0.002933402404831299,0.0001559674998905563,0.003193076451670679,-0.0034288064041379613,0.0029335408661619986,0.0001565456359792167,0.0032004866759509113,-0.0034368799955744166,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999933,-9.049465432690728e-17,-3.7029835961941647e-17,-1.2404012175461782e-07],"qvel":[-0.00016949252068484502,0.0026304018082743664,-0.2143085639953362,0.2080271636705213,4.085686036489748e-06,-5.185600321204388e-06,-0.0001239995226607473,-4.328015025459731e-05,-7.158786140737344e-05,0.00024910164418704447,-0.00010248379747327234,6.391565425747035e-06,0.0001661077279176721,0.00025993594240567464,7.424985505483113e-17,-1.4090881560516158e-16,5.432620870337272e-15,1.2675847746908395e-17,-4.4216472492728975e-15,-4.6132805069772805e-08],"joint_position_rad":[-1.9855316856838803,-1.6145811307480837,1.5888129153419452,-1.54518129693473,-1.5707819986329508,-0.4147420835703661],"joint_velocity_rad_s":[-0.00016949252068484502,0.0026304018082743664,-0.2143085639953362,0.2080271636705213,4.085686036489748e-06,-5.185600321204388e-06],"linkage_position_rad":[0.002933402404831299,0.0001559674998905563,0.003193076451670679,-0.0034288064041379613,0.0029335408661619986,0.0001565456359792167,0.0032004866759509113,-0.0034368799955744166],"tcp_position_m":[0.06807452895074598,0.4871774179967198,0.3419080236020372],"tcp_quaternion_wxyz":[-3.442177184165307e-05,0.7071044011684011,0.7071091570121968,6.879621022335055e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999933,-9.049465432690728e-17,-3.7029835961941647e-17,-1.2404012175461782e-07],"object_linear_velocity_m_s":[7.424985505483113e-17,-1.4090881560516158e-16,5.432620870337272e-15],"object_angular_velocity_rad_s":[1.267475424016109e-17,-4.421647260766943e-15,-4.61328050697729e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489855078058,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855350223685886,-1.6233353876870493,1.5361170259468253,-1.5086390915221202,-1.5707781051010679,-0.4147431319415001,0.0],"actuator_force":[0.06112363885722516,-18.560674601241317,-19.668353192105315,-2.5316136607472117,0.0015381973377088798,-5.625534868158866e-06,-0.2922147469489948],"issued_joint_targets_rad":[-1.9855393310083305,-1.6135082523973385,1.5419631548068677,-1.4994719417470197,-1.5707792541856973,-0.4147430000305239],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.419999999999664,"joint_targets_rad":[-1.9855393310083305,-1.6135082523973385,1.5419631548068677,-1.4994719417470197,-1.5707792541856973,-0.4147430000305239],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.439999999999653,"qpos":[-1.9855315545778136,-1.6144825488887673,1.5843652220226494,-1.5408392201209093,-1.570781718637375,-0.4147421723816596,0.0029333235809922927,0.00015596694665896002,0.0031930047286102678,-0.0034287305060085992,0.002933462237698738,0.00015654718419930977,0.0032004230251460476,-0.0034368022737388906,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-7.454631516829081e-17,-7.177535183063559e-17,-1.2440376106462013e-07],"qvel":[-0.00017268457543086416,0.003509268742481339,-0.2151645647947808,0.2080474957340909,3.4554433385024683e-06,-4.081233191545201e-06,-0.00012320716967739333,-4.33156852869826e-05,-6.979205802539913e-05,0.0002486304893734434,-0.00010164823372977472,6.545108424028059e-06,0.00016851293874597936,0.0002594204225379345,2.1159465574497547e-16,-1.376377050218593e-16,5.6144198906196426e-15,-6.446722706235836e-16,-1.1089676430237226e-14,-8.422685207318548e-08],"joint_position_rad":[-1.9855315545778136,-1.6144825488887673,1.5843652220226494,-1.5408392201209093,-1.570781718637375,-0.4147421723816596],"joint_velocity_rad_s":[-0.00017268457543086416,0.003509268742481339,-0.2151645647947808,0.2080474957340909,3.4554433385024683e-06,-4.081233191545201e-06],"linkage_position_rad":[0.0029333235809922927,0.00015596694665896002,0.0031930047286102678,-0.0034287305060085992,0.002933462237698738,0.00015654718419930977,0.0032004230251460476,-0.0034368022737388906],"tcp_position_m":[0.06807279762349235,0.48717381734415055,0.3436147439847663],"tcp_quaternion_wxyz":[-3.58263442460043e-05,0.7071043231942735,0.7071092345946208,7.202395505456572e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-7.454631516829081e-17,-7.177535183063559e-17,-1.2440376106462013e-07],"object_linear_velocity_m_s":[2.1159465574497547e-16,-1.376377050218593e-16,5.6144198906196426e-15],"object_angular_velocity_rad_s":[-6.446750177276551e-16,-1.1089676282395176e-14,-8.422685207318547e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490388193756,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855348935139916,-1.6230652077670695,1.5315001086645306,-1.5042929073281222,-1.570777958453069,-0.4147430020718537,0.0],"actuator_force":[0.06239595781607932,-18.56902525359692,-19.66440079832546,-2.531593177015452,0.0015345478191193251,-6.7217779076145234e-06,-0.29221501391751575],"issued_joint_targets_rad":[-1.9855392110616201,-1.6132194780485314,1.5373272896024246,-1.495125603421565,-1.5707791080652915,-0.41474288056426606],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.439999999999653,"joint_targets_rad":[-1.9855392110616201,-1.6132194780485314,1.5373272896024246,-1.495125603421565,-1.5707791080652915,-0.41474288056426606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.459999999999642,"qpos":[-1.9855314284598882,-1.6143658074657707,1.5798998239744917,-1.5364967340062186,-1.570781451259129,-0.41474224118162406,0.002933258938520184,0.0001559663852889617,0.0031929471895884294,-0.003428668040733483,0.0029333977882775564,0.00015654872547537347,0.0032003735093243907,-0.00343673800993034,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-5.526901067358172e-17,-8.721766357638732e-17,-1.2472325357735795e-07],"qvel":[-0.00017589022138652012,0.004385560106881227,-0.21602112435241755,0.20806660574645214,2.8910350068163666e-06,-3.130442384406727e-06,-0.000122557191245225,-4.335165164199997e-05,-6.812971558626685e-05,0.0002482969381650546,-0.00010095460390093221,6.700197427029106e-06,0.0001707924212054525,0.00025904319655991774,1.0075096853924365e-16,-7.12643429499518e-17,6.215328102698008e-15,2.896430273533705e-15,2.6788987466613376e-15,-9.12528967433529e-09],"joint_position_rad":[-1.9855314284598882,-1.6143658074657707,1.5798998239744917,-1.5364967340062186,-1.570781451259129,-0.41474224118162406],"joint_velocity_rad_s":[-0.00017589022138652012,0.004385560106881227,-0.21602112435241755,0.20806660574645214,2.8910350068163666e-06,-3.130442384406727e-06],"linkage_position_rad":[0.002933258938520184,0.0001559663852889617,0.0031929471895884294,-0.003428668040733483,0.0029333977882775564,0.00015654872547537347,0.0032003735093243907,-0.00343673800993034],"tcp_position_m":[0.06807110575411186,0.48717029244169535,0.34532130856523297],"tcp_quaternion_wxyz":[-3.7068529089089365e-05,0.7071042540775206,0.7071093033532266,7.485125919834075e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-5.526901067358172e-17,-8.721766357638732e-17,-1.2472325357735795e-07],"object_linear_velocity_m_s":[1.0075096853924365e-16,-7.12643429499518e-17,6.215328102698008e-15],"object_angular_velocity_rad_s":[2.8964309433673232e-15,2.6788980231481476e-15,-9.12528967433529e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490791352103,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855347751003494,-1.6227775815145313,1.5268655423735498,-1.4999465523106186,-1.5707778114551116,-0.41474288259694186,0.0],"actuator_force":[0.06366280763222676,-18.577772140273282,-19.66011346091682,-2.5315697268451913,0.0015307985080426079,-7.663420433345891e-06,-0.29221527736415626],"issued_joint_targets_rad":[-1.9855391011486747,-1.6129130377928487,1.5326734903765231,-1.4907790013950477,-1.5707789614763592,-0.41474277105947444],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.459999999999642,"joint_targets_rad":[-1.9855391011486747,-1.6129130377928487,1.5326734903765231,-1.4907790013950477,-1.5707789614763592,-0.41474277105947444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.479999999999631,"qpos":[-1.9855313075163445,-1.6142309544865843,1.575416701109337,-1.5321538537846033,-1.570781195244251,-0.4147422928453303,0.0029332059165454965,0.00015596581664528884,0.0031929012852492463,-0.003428616578032345,0.002933344957404246,0.00015655026210485427,0.003200335589456908,-0.0034366847707488677,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-5.086648130366856e-17,-9.709374573988233e-17,-1.251839344035312e-07],"qvel":[-0.00017910783632285544,0.005259581591067287,-0.21687868879682384,0.2080850555977184,2.3865195079005846e-06,-2.316523099755457e-06,-0.0001220239791820801,-4.3388069665600314e-05,-6.65752234204074e-05,0.00024807671981412775,-0.00010037729486436749,6.856840525798265e-06,0.0001729718436298783,0.000258779966888414,1.195680873698512e-16,-6.580291465920611e-17,6.3249626263797434e-15,1.6490093427806e-15,2.6438139185881933e-15,-1.6660474522692237e-08],"joint_position_rad":[-1.9855313075163445,-1.6142309544865843,1.575416701109337,-1.5321538537846033,-1.570781195244251,-0.4147422928453303],"joint_velocity_rad_s":[-0.00017910783632285544,0.005259581591067287,-0.21687868879682384,0.2080850555977184,2.3865195079005846e-06,-2.316523099755457e-06],"linkage_position_rad":[0.0029332059165454965,0.00015596581664528884,0.0031929012852492463,-0.003428616578032345,0.002933344957404246,0.00015655026210485427,0.003200335589456908,-0.0034366847707488677],"tcp_position_m":[0.06806945449707669,0.487166846489044,0.34702771661421156],"tcp_quaternion_wxyz":[-3.8163995684462085e-05,0.7071041928676969,0.7071093642390527,7.731671221887154e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-5.086648130366856e-17,-9.709374573988233e-17,-1.251839344035312e-07],"object_linear_velocity_m_s":[1.195680873698512e-16,-6.580291465920611e-17,6.3249626263797434e-15],"object_angular_velocity_rad_s":[1.6490100079418605e-15,2.6438135040342363e-15,-1.666047452269224e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349108779181,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855346666810105,-1.6224724962500403,1.5222132183277661,-1.495599930613952,-1.5707776640265714,-0.41474277308450147,0.0],"actuator_force":[0.06492480519682431,-18.586916163339083,-19.655490044412545,-2.5315439744460946,0.0015269568890516894,-8.467275620205328e-06,-0.29221553732725486],"issued_joint_targets_rad":[-1.9855390008441243,-1.6125889180743214,1.5280016458659837,-1.4864320385977254,-1.570778814347166,-0.41474267109837754],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.479999999999631,"joint_targets_rad":[-1.9855390008441243,-1.6125889180743214,1.5280016458659837,-1.4864320385977254,-1.570778814347166,-0.41474267109837754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.49999999999962,"qpos":[-1.9855311918970626,-1.6140780320158572,1.570915824657622,-1.5278105839064664,-1.570780949452043,-0.4147423299321468,0.0029331624163016928,0.00015596524138386452,0.0031928649263254258,-0.003428574126234251,0.002933301646652612,0.00015655179607079815,0.0032003071857211103,-0.0034366405616508486,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-5.643380387934123e-17,-1.1315451694459363e-16,-1.2564153328396148e-07],"qvel":[-0.00018233593509849462,0.006131617409464861,-0.21773767379579004,0.20810335772107422,1.936503976910345e-06,-1.6244378402261137e-06,-0.00012158654665347749,-4.342495778885529e-05,-6.510756812234973e-05,0.0002479499515853271,-9.989531451538276e-05,7.015049231913582e-06,0.00017507228531334375,0.00025861082495428906,1.5421962761275557e-16,-7.76643423204977e-17,6.3693715473647535e-15,6.20158157477705e-16,8.16601018790684e-16,-3.0417819184625356e-08],"joint_position_rad":[-1.9855311918970626,-1.6140780320158572,1.570915824657622,-1.5278105839064664,-1.570780949452043,-0.4147423299321468],"joint_velocity_rad_s":[-0.00018233593509849462,0.006131617409464861,-0.21773767379579004,0.20810335772107422,1.936503976910345e-06,-1.6244378402261137e-06],"linkage_position_rad":[0.0029331624163016928,0.00015596524138386452,0.0031928649263254258,-0.003428574126234251,0.002933301646652612,0.00015655179607079815,0.0032003071857211103,-0.0034366405616508486],"tcp_position_m":[0.06806784506459382,0.487163482787832,0.34873396738278895],"tcp_quaternion_wxyz":[-3.912691073131442e-05,0.7071041387126996,0.7071094181039651,7.94551935351038e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-5.643380387934123e-17,-1.1315451694459363e-16,-1.2564153328396148e-07],"object_linear_velocity_m_s":[1.5421962761275557e-16,-7.76643423204977e-17,6.3693715473647535e-15],"object_angular_velocity_rad_s":[6.201583695595206e-16,8.166008595222275e-16,-3.041781918462536e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491296548852,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855345678248815,-1.622149937657705,1.5175430251533875,-1.491252945410217,-1.570777516091921,-0.4147426731166694,0.0],"actuator_force":[0.06618251840200173,-18.596458247481678,-19.65052949015353,-2.5315165239827593,0.0015230296633035323,-9.14847723265666e-06,-0.29221579384187096],"issued_joint_targets_rad":[-1.985538909734965,-1.61224710355705,1.52331164209597,-1.4820846169858817,-1.5707786666101355,-0.4147425802748547],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.49999999999962,"joint_targets_rad":[-1.985538909734965,-1.61224710355705,1.52331164209597,-1.4820846169858817,-1.5707786666101355,-0.4147425802748547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.519999999999609,"qpos":[-1.985531081717932,-1.6139070765796164,1.5663971577409475,-1.5234669190149208,-1.5707807128446192,-0.41474235471713145,0.002933126717737891,0.00015596465999252905,0.0031928364006213223,-0.0034285390531171205,0.002933266136280515,0.0001565533290933959,0.0032002865945713484,-0.0034366037477797473,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-7.577976307209813e-17,-1.1209334449077666e-16,-1.2601844476047693e-07],"qvel":[-0.00018557315590540875,0.007001932543072287,-0.2185984677871782,0.20812197996226578,1.5360942706937555e-06,-1.0406440114538774e-06,-0.00012122769426343034,-4.346233305076379e-05,-6.37095036851979e-05,0.0002479003464703591,-9.949145785583114e-05,7.174838206914156e-06,0.00017711106691821455,0.000258519461408136,1.9162234754572484e-16,-1.5142838983600844e-16,6.380473777611007e-15,-4.807510916546059e-15,-2.1840610666891828e-15,-5.553525637510298e-08],"joint_position_rad":[-1.985531081717932,-1.6139070765796164,1.5663971577409475,-1.5234669190149208,-1.5707807128446192,-0.41474235471713145],"joint_velocity_rad_s":[-0.00018557315590540875,0.007001932543072287,-0.2185984677871782,0.20812197996226578,1.5360942706937555e-06,-1.0406440114538774e-06],"linkage_position_rad":[0.002933126717737891,0.00015596465999252905,0.0031928364006213223,-0.0034285390531171205,0.002933266136280515,0.0001565533290933959,0.0032002865945713484,-0.0034366037477797473],"tcp_position_m":[0.06806627872711588,0.4871602047466476,0.350440060101681],"tcp_quaternion_wxyz":[-3.997008226534413e-05,0.7071040908486211,0.7071094657110274,8.129822838818539e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-7.577976307209813e-17,-1.1209334449077666e-16,-1.2601844476047693e-07],"object_linear_velocity_m_s":[1.9162234754572484e-16,-1.5142838983600844e-16,6.380473777611007e-15],"object_angular_velocity_rad_s":[-4.8075114545596015e-15,-2.184059863435915e-15,-5.5535256375103005e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491433215267,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855344781135624,-1.621809889742722,1.5128548487808642,-1.4869054988732626,-1.5707773675801346,-0.4147425822872422,0.0],"actuator_force":[0.06743647110124584,-18.60639934343999,-19.64523080529534,-2.531487925397414,0.0015190228150459006,-9.72065424775792e-06,-0.292216046940324],"issued_joint_targets_rad":[-1.985538827417894,-1.6118875770870116,1.5186033623089255,-1.4777366375135783,-1.570778518201338,-0.41474249819183245],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.519999999999609,"joint_targets_rad":[-1.985538827417894,-1.6118875770870116,1.5186033623089255,-1.4777366375135783,-1.570778518201338,-0.41474249819183245],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.539999999999598,"qpos":[-1.9855309770629406,-1.613718119526675,1.5618606558830876,-1.5191228447896379,-1.5707804844774012,-0.4147423692191631,0.002933097411178858,0.0001559640728242305,0.0031928143049776087,-0.003428510021042524,0.0029332370168928396,0.0001565548626722305,0.0032002724207806986,-0.0034365729890655124,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-7.411404002793131e-17,-9.589494384035924e-17,-1.2633008470697082e-07],"qvel":[-0.00018881824756880768,0.00787077478275552,-0.21946143491520256,0.2081413499811308,1.1808495736063472e-06,-5.529386797300383e-07,-0.00012093332666415681,-4.350021131902086e-05,-6.236687055325628e-05,0.0002479145651813778,-9.915162362835374e-05,7.3362247162887235e-06,0.00017910243012300787,0.0002584925160036051,2.0098165890323484e-16,-1.342987240347139e-16,6.522027213250713e-15,-6.072787819893999e-16,-3.1972449337062458e-15,-1.0139335374205048e-07],"joint_position_rad":[-1.9855309770629406,-1.613718119526675,1.5618606558830876,-1.5191228447896379,-1.5707804844774012,-0.4147423692191631],"joint_velocity_rad_s":[-0.00018881824756880768,0.00787077478275552,-0.21946143491520256,0.2081413499811308,1.1808495736063472e-06,-5.529386797300383e-07],"linkage_position_rad":[0.002933097411178858,0.0001559640728242305,0.0031928143049776087,-0.003428510021042524,0.0029332370168928396,0.0001565548626722305,0.0032002724207806986,-0.0034365729890655124],"tcp_position_m":[0.06806475681421807,0.487157015886602,0.35214599398063373],"tcp_quaternion_wxyz":[-4.070508983262006e-05,0.7071040485906379,0.7071095077437952,8.287430966976336e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-7.411404002793131e-17,-9.589494384035924e-17,-1.2633008470697082e-07],"object_linear_velocity_m_s":[2.0098165890323484e-16,-1.342987240347139e-16,6.522027213250713e-15],"object_angular_velocity_rad_s":[-6.072795703596093e-16,-3.1972447953003294e-15,-1.0139335374205052e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491510561153,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855343971386439,-1.621452334785821,1.508148572373633,-1.4825574921527573,-1.5707772184241424,-0.4147425001990715,0.0],"actuator_force":[0.06868714762094896,-18.61674043139419,-19.63959305282833,-2.5314586796728236,0.0015149416720987574,-1.0196086236646806e-05,-0.2922162966521223],"issued_joint_targets_rad":[-1.9855387534967763,-1.6115103196497045,1.5138766868899458,-1.4733880001045858,-1.570778369060033,-0.41474242445881887],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.539999999999598,"joint_targets_rad":[-1.9855387534967763,-1.6115103196497045,1.5138766868899458,-1.4733880001045858,-1.570778369060033,-0.41474242445881887],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.559999999999587,"qpos":[-1.9855308779860148,-1.6135111873509775,1.5573062674649787,-1.5147783387071598,-1.5707802634904882,-0.4147423752261401,0.0029330733413170506,0.00015596348012378248,0.0031927974895114056,-0.003428485933787779,0.0029332131334362153,0.00015655639812164792,0.0032002635217505166,-0.003436547187046298,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-5.563788903217719e-17,-7.822746714827836e-17,-1.2671469384959697e-07],"qvel":[-0.00019207005776795104,0.008738376594126249,-0.22032691770196303,0.20816185923056277,8.667411237006752e-07,-1.5031884090114063e-07,-0.0001206918924817888,-4.353860762650056e-05,-6.106803805220838e-05,0.0002479816843845473,-9.886425423959548e-05,7.499228418315457e-06,0.00018105809532067065,0.0002585190457159573,9.925895058281157e-17,-7.044588249318781e-17,6.54700723130478e-15,2.653569775183345e-15,3.565524945193942e-15,-1.0985139550800523e-08],"joint_position_rad":[-1.9855308779860148,-1.6135111873509775,1.5573062674649787,-1.5147783387071598,-1.5707802634904882,-0.4147423752261401],"joint_velocity_rad_s":[-0.00019207005776795104,0.008738376594126249,-0.22032691770196303,0.20816185923056277,8.667411237006752e-07,-1.5031884090114063e-07],"linkage_position_rad":[0.0029330733413170506,0.00015596348012378248,0.0031927974895114056,-0.003428485933787779,0.0029332131334362153,0.00015655639812164792,0.0032002635217505166,-0.003436547187046298],"tcp_position_m":[0.06806328071584608,0.4871539198474819,0.3538517682078922],"tcp_quaternion_wxyz":[-4.134240219562124e-05,0.7071040113248169,0.7071095448146424,8.420918887882864e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-5.563788903217719e-17,-7.822746714827836e-17,-1.2671469384959697e-07],"object_linear_velocity_m_s":[9.925895058281157e-17,-7.044588249318781e-17,6.54700723130478e-15],"object_angular_velocity_rad_s":[2.6535706805107438e-15,3.565524271478885e-15,-1.0985139550800528e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491539044208,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985534324499139,-1.6210772532943256,1.503424076253329,-1.4782088253482095,-1.5707770685603464,-0.41474242646159803,0.0],"actuator_force":[0.06993499685859206,-18.62748252434676,-19.633615342514076,-2.531429243581101,0.0015107909584912704,-1.0585844876231931e-05,-0.29221654300405636],"issued_joint_targets_rad":[-1.9855386875802195,-1.6111153103234424,1.5091314932882374,-1.4690386036243681,-1.5707782191282507,-0.41474235868953113],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.559999999999587,"joint_targets_rad":[-1.9855386875802195,-1.6111153103234424,1.5091314932882374,-1.4690386036243681,-1.5707782191282507,-0.41474235868953113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.579999999999576,"qpos":[-1.9855307845126078,-1.613286301978238,1.5527339341286839,-1.5104333707256832,-1.5707800491008037,-0.41474237431753547,0.0029330535613113907,0.00015596288204953378,0.0031927850119164393,-0.00342846589297926,0.0029331935393002604,0.00015655793660047725,0.00320025896187641,-0.0034365254412812678,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-5.1323387277342655e-17,-8.670525875045854e-17,-1.2720688348057654e-07],"qvel":[-0.00019532752212243513,0.00960495682210432,-0.22119523948121914,0.20818386655396037,5.901146978568811e-07,1.7714448802775866e-07,-0.00012049392530515067,-4.357753641867714e-05,-5.980344692286997e-05,0.000248092760709511,-9.861987675020435e-05,7.663871115138532e-06,0.00018298771828672506,0.00025859008989650084,1.1270972197236307e-16,-6.592287795992124e-17,6.615008391563072e-15,1.49056015154399e-15,2.2887732184921276e-15,-2.0056090726527625e-08],"joint_position_rad":[-1.9855307845126078,-1.613286301978238,1.5527339341286839,-1.5104333707256832,-1.5707800491008037,-0.41474237431753547],"joint_velocity_rad_s":[-0.00019532752212243513,0.00960495682210432,-0.22119523948121914,0.20818386655396037,5.901146978568811e-07,1.7714448802775866e-07],"linkage_position_rad":[0.0029330535613113907,0.00015596288204953378,0.0031927850119164393,-0.00342846589297926,0.0029331935393002604,0.00015655793660047725,0.00320025896187641,-0.0034365254412812678],"tcp_position_m":[0.06806185188393452,0.4871509203945391,0.355557381949704],"tcp_quaternion_wxyz":[-4.189148376996738e-05,0.70710397850076,0.7071095774722258,8.532613915891347e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-5.1323387277342655e-17,-8.670525875045854e-17,-1.2720688348057654e-07],"object_linear_velocity_m_s":[1.1270972197236307e-16,-6.592287795992124e-17,6.615008391563072e-15],"object_angular_velocity_rad_s":[1.4905607373172958e-15,2.2887728372143383e-15,-2.0056090726527638e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491527227391,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985534259799028,-1.6206846239495774,1.4986812378211205,-1.4738593974828382,-1.5707769179281756,-0.41474236068847803,0.0],"actuator_force":[0.07118043600894453,-18.638626671520342,-19.627296822638982,-2.531400033973455,0.0015065748442566473,-1.0899920084739279e-05,-0.29221678602030576],"issued_joint_targets_rad":[-1.9855386292792292,-1.6107025262280446,1.504367655934241,-1.4646883458520001,-1.5707780683504138,-0.4147423004996097],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.579999999999576,"joint_targets_rad":[-1.9855386292792292,-1.6107025262280446,1.504367655934241,-1.4646883458520001,-1.5707780683504138,-0.4147423004996097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.599999999999564,"qpos":[-1.985530696641068,-1.6130434810199137,1.5481435911348167,-1.5060879039015538,-1.5707798405949698,-0.41474236788457075,0.0029330372951689404,0.00015596227869105157,0.003192776100013108,-0.0034284491623831066,0.0029331774587014283,0.000156559479136461,0.0032002579751539847,-0.003436507013626037,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-5.123362724105281e-17,-9.665141902550075e-17,-1.276339294926209e-07],"qvel":[-0.0001985896539819271,0.010470722251969143,-0.2220667066191606,0.2082077014383189,3.476565521033293e-07,4.384197144740408e-07,-0.00012033166750637966,-4.3617011689144904e-05,-5.856523475041879e-05,0.0002482404745931568,-9.841072670278202e-05,7.83017650978966e-06,0.00018489926472810053,0.00025869831222029066,1.419393580624019e-16,-7.431694113522541e-17,6.628886179370889e-15,1.7811314226608802e-16,-2.390005549817095e-16,-3.6617356872942584e-08],"joint_position_rad":[-1.985530696641068,-1.6130434810199137,1.5481435911348167,-1.5060879039015538,-1.5707798405949698,-0.41474236788457075],"joint_velocity_rad_s":[-0.0001985896539819271,0.010470722251969143,-0.2220667066191606,0.2082077014383189,3.476565521033293e-07,4.384197144740408e-07],"linkage_position_rad":[0.0029330372951689404,0.00015596227869105157,0.003192776100013108,-0.0034284491623831066,0.0029331774587014283,0.000156559479136461,0.0032002579751539847,-0.003436507013626037],"tcp_position_m":[0.06806047183441012,0.48714802142595776,0.3572628343498592],"tcp_quaternion_wxyz":[-4.236089086712489e-05,0.7071039496249972,0.7071096062081731,8.624619310764115e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-5.123362724105281e-17,-9.665141902550075e-17,-1.276339294926209e-07],"object_linear_velocity_m_s":[1.419393580624019e-16,-7.431694113522541e-17,6.628886179370889e-15],"object_angular_velocity_rad_s":[1.781130883351609e-16,-2.390006042003433e-16,-3.661735687294261e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491482121122,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855342026448854,-1.6202744235504034,1.4939199314747356,-1.4695091064771952,-1.5707767664696834,-0.414742302495297,0.0],"actuator_force":[0.07242385395784368,-18.65017396176654,-19.620636672497767,-2.5313714316525875,0.0015022969879510129,-1.1147334589622915e-05,-0.29221702572247266],"issued_joint_targets_rad":[-1.9855385782049324,-1.6102719424686138,1.4995850461519935,-1.4603371234519225,-1.5707779166729892,-0.41474224950437993],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.599999999999564,"joint_targets_rad":[-1.9855385782049324,-1.6102719424686138,1.4995850461519935,-1.4603371234519225,-1.5707779166729892,-0.41474224950437993],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.619999999999553,"qpos":[-1.9855306143437879,-1.612782737997178,1.5435351676774212,-1.5017418949439851,-1.5707796373228196,-0.4147423571482409,0.0029330239069146873,0.00015596167008304223,0.0031927701210518284,-0.003428435138641176,0.002933164255854776,0.00015656102664666097,0.003200259934536046,-0.0034364912989517703,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-4.504059217024981e-17,-1.0870577778240055e-16,-1.2802641243297198e-07],"qvel":[-0.0002018555349092874,0.011335869042168179,-0.2229416105445146,0.20823366695629367,1.363624528051388e-07,6.416170195465053e-07,-0.00012019876196478306,-4.3657047220207364e-05,-5.734692876276054e-05,0.00024841883689557734,-9.823043983827907e-05,7.99817010643914e-06,0.00018679931730852524,0.0002588377079552451,2.1314334537464985e-16,-7.941076077275822e-17,6.656641754986519e-15,-3.54750046877055e-16,-5.530677193584712e-15,-6.685404661568729e-08],"joint_position_rad":[-1.9855306143437879,-1.612782737997178,1.5435351676774212,-1.5017418949439851,-1.5707796373228196,-0.4147423571482409],"joint_velocity_rad_s":[-0.0002018555349092874,0.011335869042168179,-0.2229416105445146,0.20823366695629367,1.363624528051388e-07,6.416170195465053e-07],"linkage_position_rad":[0.0029330239069146873,0.00015596167008304223,0.0031927701210518284,-0.003428435138641176,0.002933164255854776,0.00015656102664666097,0.003200259934536046,-0.0034364912989517703],"tcp_position_m":[0.06805914214959038,0.4871452269810709,0.3589681245292303],"tcp_quaternion_wxyz":[-4.2758358722344736e-05,0.7071039242550504,0.7071096314630819,8.698835775893116e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-4.504059217024981e-17,-1.0870577778240055e-16,-1.2802641243297198e-07],"object_linear_velocity_m_s":[2.1314334537464985e-16,-7.941076077275822e-17,6.656641754986519e-15],"object_angular_velocity_rad_s":[-3.54751448487721e-16,-5.530677108772076e-15,-6.685404661568734e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491409463712,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855341526435775,-1.6198466269522702,1.4891400285207612,-1.4651578491224582,-1.5707766141291775,-0.4147422514973307,0.0],"actuator_force":[0.07366561438448116,-18.662125527052012,-19.613634095514044,-2.5313437848658396,0.001497960575761681,-1.1336246842574838e-05,-0.29221726212945787],"issued_joint_targets_rad":[-1.9855385339663292,-1.6098235320740404,1.4947835320662348,-1.4559848319454516,-1.5707777640441751,-0.41474220531666117],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.619999999999553,"joint_targets_rad":[-1.9855385339663292,-1.6098235320740404,1.4947835320662348,-1.4559848319454516,-1.5707777640441751,-0.41474220531666117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.639999999999542,"qpos":[-1.985530537568147,-1.6125040825373222,1.5389085871599035,-1.4973952947139064,-1.5707794386915102,-0.4147423431754016,0.0029330128753247923,0.00015596105621694907,0.0031927665565586413,-0.0034284233272910427,0.0029331534097090145,0.00015656257995496614,0.0032002643268241736,-0.0034364778011530717,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-3.329449083529543e-17,-9.617509348414331e-17,-1.2828000575640966e-07],"qvel":[-0.00020512430568318376,0.012200584043048784,-0.2238202296085982,0.20826204242746182,-4.649044268177796e-08,7.940806783942387e-07,-0.00012008999938483626,-4.3697656621622294e-05,-5.614319377359828e-05,0.00024862295013486016,-9.807379941313196e-05,8.16787908711523e-06,0.00018869332731711054,0.0002590033646098631,1.1537402548944128e-16,-4.2921598219880546e-17,6.712152906217775e-15,1.868938233519176e-15,3.978516241750373e-15,-7.243088471828199e-09],"joint_position_rad":[-1.985530537568147,-1.6125040825373222,1.5389085871599035,-1.4973952947139064,-1.5707794386915102,-0.4147423431754016],"joint_velocity_rad_s":[-0.00020512430568318376,0.012200584043048784,-0.2238202296085982,0.20826204242746182,-4.649044268177796e-08,7.940806783942387e-07],"linkage_position_rad":[0.0029330128753247923,0.00015596105621694907,0.0031927665565586413,-0.0034284233272910427,0.0029331534097090145,0.00015656257995496614,0.0032002643268241736,-0.0034364778011530717],"tcp_position_m":[0.06805786448099917,0.4871425412493809,0.3606732515853196],"tcp_quaternion_wxyz":[-4.3090880182921864e-05,0.707103901994103,0.7071096536318946,8.756980893776316e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-3.329449083529543e-17,-9.617509348414331e-17,-1.2828000575640966e-07],"object_linear_velocity_m_s":[1.1537402548944128e-16,-4.2921598219880546e-17,6.712152906217775e-15],"object_angular_velocity_rad_s":[1.868939255640498e-15,3.978515761773121e-15,-7.243088471828205e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491313951165,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855341093999908,-1.6194012070017099,1.4843413970817096,-1.460805521053329,-1.5707764608528882,-0.41474220730735384,0.0],"actuator_force":[0.07490605858583876,-18.67448254599458,-19.60628831294889,-2.531317412457497,0.0014935683552721457,-1.1474043986936522e-05,-0.29221749525770047],"issued_joint_targets_rad":[-1.9855384961680698,-1.6093572659297797,1.4899629785036896,-1.4516313656819344,-1.570777610413606,-0.4147421675445685],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.639999999999542,"joint_targets_rad":[-1.9855384961680698,-1.6093572659297797,1.4899629785036896,-1.4516313656819344,-1.570777610413606,-0.4147421675445685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.659999999999531,"qpos":[-1.9855304662372557,-1.6122075205447042,1.5342637674351787,-1.4930480486722546,-1.5707792441601682,-0.41474232689310336,0.002933003773218999,0.00015596043704984463,0.003192764981717209,-0.0034284133231113037,0.002933144493240531,0.00015656413980635441,0.0032002707320947176,-0.003436466113479726,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-3.4803732761522865e-17,-9.569192669584198e-17,-1.2874300312471699e-07],"qvel":[-0.0002083951578319216,0.01306504601470968,-0.22470283079419642,0.20829308582615952,-2.0336909266431403e-07,9.024725692495834e-07,-0.0001200011112665589,-4.3738853537347016e-05,-5.494962585513261e-05,0.00024884881109415226,-9.79365291584327e-05,8.339332211648908e-06,0.00019058582093031123,0.0002591912649362758,1.1895497539793532e-16,-4.331518530854217e-17,6.774602951352939e-15,1.2688040954716758e-15,3.5149575759740814e-15,-1.3224050441915617e-08],"joint_position_rad":[-1.9855304662372557,-1.6122075205447042,1.5342637674351787,-1.4930480486722546,-1.5707792441601682,-0.41474232689310336],"joint_velocity_rad_s":[-0.0002083951578319216,0.01306504601470968,-0.22470283079419642,0.20829308582615952,-2.0336909266431403e-07,9.024725692495834e-07],"linkage_position_rad":[0.002933003773218999,0.00015596043704984463,0.003192764981717209,-0.0034284133231113037,0.002933144493240531,0.00015656413980635441,0.0032002707320947176,-0.003436466113479726],"tcp_position_m":[0.06805664055262238,0.4871399685804796,0.36237821459179426],"tcp_quaternion_wxyz":[-4.336477686313772e-05,0.7071038824862114,0.7071096730687211,8.800606696365155e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-3.4803732761522865e-17,-9.569192669584198e-17,-1.2874300312471699e-07],"object_linear_velocity_m_s":[1.1895497539793532e-16,-4.331518530854217e-17,6.774602951352939e-15],"object_angular_velocity_rad_s":[1.2688050030548932e-15,3.514957248354176e-15,-1.3224050441915632e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491199425476,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985534072514789,-1.6189381344655271,1.4795239019972886,-1.456452016720442,-1.5707763065886557,-0.41474216953344123,0.0],"actuator_force":[0.07614550806647458,-18.6872462475294,-19.598598558101457,-2.5312926067095987,0.0014891226655890932,-1.1567425872271997e-05,-0.29221772512085153],"issued_joint_targets_rad":[-1.9855384644082166,-1.608873112704399,1.4851232468879358,-1.4472766178095111,-1.570777455732087,-0.4147421357893237],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.659999999999531,"joint_targets_rad":[-1.9855384644082166,-1.608873112704399,1.4851232468879358,-1.4472766178095111,-1.570777455732087,-0.4147421357893237],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.67999999999952,"qpos":[-1.9855304002505079,-1.611893054348103,1.5296006210128668,-1.4887000972825135,-1.5707790532350203,-0.41474230910134213,0.002932996250489901,0.00015595981251200616,0.0031927650484720525,-0.00342840479401278,0.0029331371564840824,0.00015656570687910986,0.0032002788068418997,-0.00343645590241475,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-3.054999541142679e-17,-9.642162579321178e-17,-1.2920817441063651e-07],"qvel":[-0.00021166732553262442,0.013929426756047109,-0.22558967129049218,0.20832703596030924,-3.3650777414665064e-07,9.728476298664117e-07,-0.00011992860019760191,-4.378065168970633e-05,-5.37625830630102e-05,0.00024909315134282,-9.781512356505535e-05,8.512559764801533e-06,0.00019248056852703044,0.00025939812619350745,1.267255648952692e-16,-3.7500028187882574e-17,6.799582969407009e-15,9.836211972796632e-16,2.2064936637416984e-15,-2.414377661828963e-08],"joint_position_rad":[-1.9855304002505079,-1.611893054348103,1.5296006210128668,-1.4887000972825135,-1.5707790532350203,-0.41474230910134213],"joint_velocity_rad_s":[-0.00021166732553262442,0.013929426756047109,-0.22558967129049218,0.20832703596030924,-3.3650777414665064e-07,9.728476298664117e-07],"linkage_position_rad":[0.002932996250489901,0.00015595981251200616,0.0031927650484720525,-0.00342840479401278,0.0029331371564840824,0.00015656570687910986,0.0032002788068418997,-0.00343645590241475],"tcp_position_m":[0.06805547216463409,0.48713751349495577,0.3640830125979983],"tcp_quaternion_wxyz":[-4.358576348259794e-05,0.7071038654120054,0.7071096900911629,8.831115548197556e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-3.054999541142679e-17,-9.642162579321178e-17,-1.2920817441063651e-07],"object_linear_velocity_m_s":[1.267255648952692e-16,-3.7500028187882574e-17,6.799582969407009e-15],"object_angular_velocity_rad_s":[9.836217721296318e-16,2.206493408082644e-15,-2.4143776618289657e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313491069028888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855340415821545,-1.61845737795424,1.4746874047192813,-1.4520972293622585,-1.5707761512856473,-0.4147421377767783,0.0],"actuator_force":[0.07738426692003486,-18.700417914692935,-19.590564070974324,-2.5312696359034135,0.001484625463831435,-1.1622481054018863e-05,-0.2922179517298859],"issued_joint_targets_rad":[-1.9855384382759744,-1.6083710387692576,1.480264195127111,-1.4429204802453806,-1.5707772999513427,-0.4147421096430138],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.67999999999952,"joint_targets_rad":[-1.9855384382759744,-1.6083710387692576,1.480264195127111,-1.4429204802453806,-1.5707772999513427,-0.4147421096430138],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.699999999999509,"qpos":[-1.9855303394839383,-1.6115606828261377,1.5249190552360157,-1.4843513763718397,-1.5707788654649715,-0.41474229048437344,0.002932990020194081,0.00015595918251223715,0.0031927664716804743,-0.0034283974678378584,0.002933131112625285,0.00015656728179482546,0.0032002882701625845,-0.0034364468944657134,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-2.919003626656363e-17,-1.0323689730346184e-16,-1.2960290849813323e-07],"qvel":[-0.00021494007784103242,0.014793892156664427,-0.22648099995037882,0.20836411444366712,-4.4792908491926974e-07,1.0107223271451106e-06,-0.00011986960081607774,-4.382306494174224e-05,-5.2579046308000795e-05,0.0002493533035423711,-9.770670883736207e-05,8.687593489728653e-06,0.00019438072329951825,0.00025962126701325723,1.6348089080496844e-16,-4.9273120301304526e-17,6.671907321575116e-15,-2.633157638893921e-16,-1.4993074451352723e-15,-4.40804390419995e-08],"joint_position_rad":[-1.9855303394839383,-1.6115606828261377,1.5249190552360157,-1.4843513763718397,-1.5707788654649715,-0.41474229048437344],"joint_velocity_rad_s":[-0.00021494007784103242,0.014793892156664427,-0.22648099995037882,0.20836411444366712,-4.4792908491926974e-07,1.0107223271451106e-06],"linkage_position_rad":[0.002932990020194081,0.00015595918251223715,0.0031927664716804743,-0.0034283974678378584,0.002933131112625285,0.00015656728179482546,0.0032002882701625845,-0.0034364468944657134],"tcp_position_m":[0.06805436119763343,0.4871351806964,0.3657876446284428],"tcp_quaternion_wxyz":[-4.37590060385358e-05,0.7071038504848225,0.7071097049841953,8.84977450545323e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-2.919003626656363e-17,-1.0323689730346184e-16,-1.2960290849813323e-07],"object_linear_velocity_m_s":[1.6348089080496844e-16,-4.9273120301304526e-17,6.671907321575116e-15],"object_angular_velocity_rad_s":[-2.633161434171396e-16,-1.4993073794556666e-15,-4.408043904199956e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490925330394,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985534016187503,-1.6179589038390911,1.4698317631992879,-1.4477410509763522,-1.5707759948940923,-0.41474211162941965,0.0],"actuator_force":[0.07862262400703912,-18.713998888572405,-19.582184093304022,-2.531248746622964,0.0014800783480950486,-1.1644755829820497e-05,-0.2922181750927011],"issued_joint_targets_rad":[-1.985538417349361,-1.6078510081106017,1.4753856774936613,-1.43856284364553,-1.5707771430237851,-0.4147420886862887],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.699999999999509,"joint_targets_rad":[-1.985538417349361,-1.6078510081106017,1.4753856774936613,-1.43856284364553,-1.5707771430237851,-0.4147420886862887],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.719999999999498,"qpos":[-1.9855302837903974,-1.6112104015121307,1.5202189724295172,-1.4800018174546887,-1.5707786804375805,-0.4147422716207205,0.002932984847153604,0.00015595854694303737,0.0031927690177622594,-0.0034283911215478996,0.002933126126603225,0.000156568865127364,0.0032002988924416027,-0.0034364388653334212,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-2.2889975633717106e-17,-1.1338201350453894e-16,-1.299503701452972e-07],"qvel":[-0.00021821271115240133,0.015658603182434304,-0.22737705864504826,0.20840452748142005,-5.394630280457569e-07,1.0211368385033466e-06,-0.00011982176580412682,-4.386610740967229e-05,-5.139650572758099e-05,0.00024962709559511336,-9.760892886361493e-05,8.864466640598323e-06,0.0001962889355071816,0.00025985850097843936,2.8670420223098693e-16,-3.161770114754899e-17,6.1917358634247346e-15,3.4470170707211617e-16,-1.0472890589364156e-14,-8.047974999344926e-08],"joint_position_rad":[-1.9855302837903974,-1.6112104015121307,1.5202189724295172,-1.4800018174546887,-1.5707786804375805,-0.4147422716207205],"joint_velocity_rad_s":[-0.00021821271115240133,0.015658603182434304,-0.22737705864504826,0.20840452748142005,-5.394630280457569e-07,1.0211368385033466e-06],"linkage_position_rad":[0.002932984847153604,0.00015595854694303737,0.0031927690177622594,-0.0034283911215478996,0.002933126126603225,0.000156568865127364,0.0032002988924416027,-0.0034364388653334212],"tcp_position_m":[0.0680533096174342,0.4871329750846346,0.3674921096822543],"tcp_quaternion_wxyz":[-4.388917440646437e-05,0.7071038374472339,0.7071097180036495,8.857728295659498e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-2.2889975633717106e-17,-1.1338201350453894e-16,-1.299503701452972e-07],"object_linear_velocity_m_s":[2.8670420223098693e-16,-3.161770114754899e-17,6.1917358634247346e-15],"object_angular_velocity_rad_s":[3.4469900340999956e-16,-1.0472890682636407e-14,-8.047974999344936e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490770429228,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339959051357,-1.6174426761618788,1.4649568317685304,-1.4433833722900604,-1.5707758373650358,-0.4147420906719856,0.0],"actuator_force":[0.07986085498396278,-18.727990572469935,-19.57345786395399,-2.5312301658277647,0.0014754825751879252,-1.1639316369382868e-05,-0.29221839521450277],"issued_joint_targets_rad":[-1.985538401192797,-1.6073129822332077,1.4704875444952035,-1.434203597373867,-1.5707769849022948,-0.4147420724859886],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.719999999999498,"joint_targets_rad":[-1.985538401192797,-1.6073129822332077,1.4704875444952035,-1.434203597373867,-1.5707769849022948,-0.4147420724859886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.739999999999487,"qpos":[-1.9855302329995308,-1.610842202679625,1.5155002700220936,-1.4756513480224738,-1.5707784977754033,-0.414742252991997,0.002932980538613712,0.00015595790568378459,0.0031927724953984735,-0.0034283855723484346,0.0029331220057692386,0.00015657045740988452,0.0032003104860768698,-0.0034364316310409393,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-1.47233436584477e-17,-1.1526497551071446e-16,-1.3025564900728744e-07],"qvel":[-0.00022148454185133722,0.0165237168052518,-0.22827808353006465,0.20844846748726867,-6.12764305744061e-07,1.0087115974833528e-06,-0.00011978317259792035,-4.390979358018148e-05,-5.021286690751212e-05,0.00024991276070569806,-9.751985191001471e-05,9.043213897166434e-06,0.00019820744552544157,0.00026010804626152466,1.3839491585393049e-16,-1.9786676647804495e-17,6.610845055220732e-15,9.564322128429615e-16,4.4434829179258524e-15,-8.719321849639843e-09],"joint_position_rad":[-1.9855302329995308,-1.610842202679625,1.5155002700220936,-1.4756513480224738,-1.5707784977754033,-0.414742252991997],"joint_velocity_rad_s":[-0.00022148454185133722,0.0165237168052518,-0.22827808353006465,0.20844846748726867,-6.12764305744061e-07,1.0087115974833528e-06],"linkage_position_rad":[0.002932980538613712,0.00015595790568378459,0.0031927724953984735,-0.0034283855723484346,0.0029331220057692386,0.00015657045740988452,0.0032003104860768698,-0.0034364316310409393],"tcp_position_m":[0.06805231948046161,0.48713090177031654,0.36919640673258625],"tcp_quaternion_wxyz":[-4.398048990171192e-05,0.7071038260679238,0.7071097293793417,8.856011051227131e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-1.47233436584477e-17,-1.1526497551071446e-16,-1.3025564900728744e-07],"object_linear_velocity_m_s":[1.3839491585393049e-16,-1.9786676647804495e-17,6.610845055220732e-15],"object_angular_velocity_rad_s":[9.564333724304976e-16,4.443482668507555e-15,-8.719321849639855e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490606039818,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339802958167,-1.6169086565367192,1.4600624610087927,-1.4390240827304444,-1.5707756786501093,-0.4147420744712899,0.0],"actuator_force":[0.08109922416906556,-18.742394436289487,-19.56438461457583,-2.5312141027122834,0.001470839077569508,-1.1610806211592717e-05,-0.2922186120966079],"issued_joint_targets_rad":[-1.98553838935457,-1.6067569200545635,1.465569642735386,-1.4298426294706932,-1.570776825540014,-0.4147420605926243],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.739999999999487,"joint_targets_rad":[-1.98553838935457,-1.6067569200545635,1.465569642735386,-1.4298426294706932,-1.570776825540014,-0.4147420605926243],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.759999999999476,"qpos":[-1.9855301869175728,-1.6104560754095145,1.5107628406434408,-1.47129989180245,-1.5707783171326641,-0.4147422349906429,0.0029329769365865426,0.00015595725860368106,0.0031927767479059546,-0.003428380670432722,0.0029331185922315452,0.00015657205914115435,0.003200322897883992,-0.0034364250406536258,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-1.8217568760256856e-17,-1.4919226673774365e-16,-1.3075117114014678e-07],"qvel":[-0.00022475489897938182,0.017389386887096514,-0.22918430623650105,0.20849611454840164,-6.693279845766021e-07,9.776990938816713e-07,-0.00011975224675217413,-4.39541382605334e-05,-4.902637433360141e-05,0.0002502088656346728,-9.74378939628089e-05,9.223871490109964e-06,0.00020013816130843524,0.00026036845451052435,1.8228107207177278e-16,-2.3490549125381727e-17,6.709377348656214e-15,6.829046492007683e-16,3.8398377077720944e-15,-1.59192797944311e-08],"joint_position_rad":[-1.9855301869175728,-1.6104560754095145,1.5107628406434408,-1.47129989180245,-1.5707783171326641,-0.4147422349906429],"joint_velocity_rad_s":[-0.00022475489897938182,0.017389386887096514,-0.22918430623650105,0.20849611454840164,-6.693279845766021e-07,9.776990938816713e-07],"linkage_position_rad":[0.0029329769365865426,0.00015595725860368106,0.0031927767479059546,-0.003428380670432722,0.0029331185922315452,0.00015657205914115435,0.003200322897883992,-0.0034364250406536258],"tcp_position_m":[0.06805139293982619,0.48712896609108614,0.3709005347259784],"tcp_quaternion_wxyz":[-4.403676828087805e-05,0.7071038161388824,0.7071097393178828,8.845556915728924e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-1.8217568760256856e-17,-1.4919226673774365e-16,-1.3075117114014678e-07],"object_linear_velocity_m_s":[1.8228107207177278e-16,-2.3490549125381727e-17,6.709377348656214e-15],"object_angular_velocity_rad_s":[6.829056580773674e-16,3.839837528610782e-15,-1.5919279794431124e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931349043356133,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339689042233,-1.616356804042711,1.4551484976133788,-1.4346630703935133,-1.5707755187013106,-0.4147420625778197,0.0],"actuator_force":[0.08233798629089506,-18.757212021231226,-19.554963565523394,-2.531200750371795,0.0014661484751741227,-1.1563497793076749e-05,-0.2922188257373295],"issued_joint_targets_rad":[-1.9855383813641574,-1.6061827777883784,1.460631814763513,-1.4254798266204824,-1.5707766648901478,-0.4147420525377301],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.759999999999476,"joint_targets_rad":[-1.9855383813641574,-1.6061827777883784,1.460631814763513,-1.4254798266204824,-1.5707766648901478,-0.4147420525377301],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.779999999999465,"qpos":[-1.9855301453269323,-1.6100520056395777,1.506006572197853,-1.4669473689887003,-1.570778138192229,-0.4147422179266654,0.002932973911576204,0.00015595660556404578,0.0031927816469894924,-0.0034283762930205457,0.0029331157565811476,0.00015657367079076884,0.0032003360028700785,-0.0034364189703226843,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,-1.7065913249765916e-17,-1.6158617246648996e-16,-1.311884122644178e-07],"qvel":[-0.00022802311693705197,0.01825576502853953,-0.23009595500011015,0.2085476377530554,-7.105036788945851e-07,9.320312931322267e-07,-0.00011972769932097282,-4.399915672484614e-05,-4.7835548215458874e-05,0.0002505142520050245,-9.73617560829207e-05,9.406477137438791e-06,0.00020208272100003015,0.0002606385500692291,2.164862906962901e-16,-2.1122190859263708e-17,6.721867357683247e-15,3.9755574180898913e-16,1.9431663420491497e-15,-2.906458478580772e-08],"joint_position_rad":[-1.9855301453269323,-1.6100520056395777,1.506006572197853,-1.4669473689887003,-1.570778138192229,-0.4147422179266654],"joint_velocity_rad_s":[-0.00022802311693705197,0.01825576502853953,-0.23009595500011015,0.2085476377530554,-7.105036788945851e-07,9.320312931322267e-07],"linkage_position_rad":[0.002932973911576204,0.00015595660556404578,0.0031927816469894924,-0.0034283762930205457,0.0029331157565811476,0.00015657367079076884,0.0032003360028700785,-0.0034364189703226843],"tcp_position_m":[0.06805053225213727,0.48712717362945246,0.3726044925816636],"tcp_quaternion_wxyz":[-4.406145862354197e-05,0.7071038074728728,0.7071097480052093,8.827209631083033e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,-1.7065913249765916e-17,-1.6158617246648996e-16,-1.311884122644178e-07],"object_linear_velocity_m_s":[2.164862906962901e-16,-2.1122190859263708e-17,6.721867357683247e-15],"object_angular_velocity_rad_s":[3.9755626104366034e-16,1.9431662367476443e-15,-2.9064584785807774e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490254134615,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533961256256,-1.6157870751062737,1.4502147842368545,-1.4303002220126735,-1.5707753574707963,-0.414742054523088,0.0],"actuator_force":[0.08357738812765092,-18.77244494480783,-19.54519392195334,-2.5311902872921337,0.0014614110842785522,-1.1501340622999123e-05,-0.2922190361308481],"issued_joint_targets_rad":[-1.9855383767293604,-1.605590508816013,1.4556738989114404,-1.4211150741189358,-1.570776502905773,-0.4147420478310171],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.779999999999465,"joint_targets_rad":[-1.9855383767293604,-1.605590508816013,1.4556738989114404,-1.4211150741189358,-1.570776502905773,-0.4147420478310171],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.799999999999454,"qpos":[-1.9855301079855763,-1.6096299761969615,1.5012313479153823,-1.4625936964478283,-1.5707779606628511,-0.41474220203346224,0.0029329713574359037,0.00015595594641971218,0.0031927870876206892,-0.003428372339482097,0.002933113392749701,0.00015657529280353917,0.003200349699136631,-0.003436413318388533,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,3.3758772855906494e-18,-1.6509210291290363e-16,-1.3160288420703462e-07],"qvel":[-0.0002312885280557356,0.01912300139175643,-0.23101325574131162,0.20860319639390199,-7.375083807461352e-07,8.753634274239239e-07,-0.00011970847548206546,-4.404486478236627e-05,-4.663913256830957e-05,0.0002508279867217281,-9.729037299618668e-05,9.591070125672805e-06,0.00020404254512727606,0.0002609173819200615,2.6897007601444327e-16,2.225202401886244e-17,5.593603208907931e-15,2.69782554499001e-15,-2.3497507818743542e-15,-5.3064592097116776e-08],"joint_position_rad":[-1.9855301079855763,-1.6096299761969615,1.5012313479153823,-1.4625936964478283,-1.5707779606628511,-0.41474220203346224],"joint_velocity_rad_s":[-0.0002312885280557356,0.01912300139175643,-0.23101325574131162,0.20860319639390199,-7.375083807461352e-07,8.753634274239239e-07],"linkage_position_rad":[0.0029329713574359037,0.00015595594641971218,0.0031927870876206892,-0.003428372339482097,0.002933113392749701,0.00015657529280353917,0.003200349699136631,-0.003436413318388533],"tcp_position_m":[0.06804973978516317,0.4871255302326624,0.3743082791908129],"tcp_quaternion_wxyz":[-4.405767848883305e-05,0.7071037999011569,0.7071097556088575,8.801731203861266e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,3.3758772855906494e-18,-1.6509210291290363e-16,-1.3160288420703462e-07],"object_linear_velocity_m_s":[2.6897007601444327e-16,2.225202401886244e-17,5.593603208907931e-15],"object_angular_velocity_rad_s":[2.6978249440430514e-15,-2.3497514915992456e-15,-5.306459209711687e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313490068688894,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339568561614,-1.6151994233717462,1.4452611593320783,-1.4259354229263923,-1.5707751949106818,-0.4147420498167866,0.0],"actuator_force":[0.08481767005196161,-18.78809490627191,-19.535074870083463,-2.5311828786722117,0.0014566269227316297,-1.1428004881963716e-05,-0.292219243266889],"issued_joint_targets_rad":[-1.9855383749332083,-1.6049800635441185,1.4506957291159914,-1.4167482558392408,-1.5707763395396528,-0.41474204595729713],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.799999999999454,"joint_targets_rad":[-1.9855383749332083,-1.6049800635441185,1.4506957291159914,-1.4167482558392408,-1.5707763395396528,-0.41474204595729713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.819999999999443,"qpos":[-1.9855300746261892,-1.6091899668139695,1.4964370463813272,-1.4582387879017005,-1.5707777842766595,-0.4147421874727928,0.0029329691871530983,0.00015595528102047647,0.0031927929838387694,-0.0034283687273423615,0.002933111413795285,0.00015657692560355592,0.0032003639037008202,-0.00343640800138236,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,1.3698176253302567e-17,-1.4764089051854384e-16,-1.3190065984941514e-07],"qvel":[-0.00023455045494729689,0.019991245508502228,-0.23193643310888382,0.2086629410594697,-7.51438062568406e-07,8.111146391475454e-07,-0.00011969371241672527,-4.4091278795132795e-05,-4.5436052486465745e-05,0.0002511493234761783,-9.72228709321386e-05,9.777691483441558e-06,0.0002060188799898118,0.0002612041844745827,4.0014304120065604e-16,3.992883691913198e-17,5.371558603982899e-15,2.233684983527909e-15,-1.307457966710826e-14,-9.688254469088029e-08],"joint_position_rad":[-1.9855300746261892,-1.6091899668139695,1.4964370463813272,-1.4582387879017005,-1.5707777842766595,-0.4147421874727928],"joint_velocity_rad_s":[-0.00023455045494729689,0.019991245508502228,-0.23193643310888382,0.2086629410594697,-7.51438062568406e-07,8.111146391475454e-07],"linkage_position_rad":[0.0029329691871530983,0.00015595528102047647,0.0031927929838387694,-0.0034283687273423615,0.002933111413795285,0.00015657692560355592,0.0032003639037008202,-0.00343640800138236],"tcp_position_m":[0.06804901802642617,0.48712404203480697,0.3760118934157055],"tcp_quaternion_wxyz":[-4.4028245699312254e-05,0.707103793271435,0.7071097622800186,8.769809737606881e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,1.3698176253302567e-17,-1.4764089051854384e-16,-1.3190065984941514e-07],"object_linear_velocity_m_s":[4.0014304120065604e-16,3.992883691913198e-17,5.371558603982899e-15],"object_angular_velocity_rad_s":[2.233681563044115e-15,-1.307458025370265e-14,-9.688254469088046e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489877980055,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533955183427,-1.6145937995585207,1.4402874569727704,-1.4215685570450014,-1.5707750309728468,-0.4147420479437104,0.0],"actuator_force":[0.08605906750335635,-18.804163692503153,-19.524605573560166,-2.5311786775973815,0.0014517957126827241,-1.1346922718757924e-05,-0.2922194471306749],"issued_joint_targets_rad":[-1.9855383754305915,-1.6043513892464916,1.4456971347248562,-1.4123792541975608,-1.570776174744051,-0.41474204637313833],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.819999999999443,"joint_targets_rad":[-1.9855383754305915,-1.6043513892464916,1.4456971347248562,-1.4123792541975608,-1.570776174744051,-0.41474204637313833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.839999999999431,"qpos":[-1.9855300449550963,-1.608731954127287,1.4916235415445696,-1.4538825540893523,-1.570777608786875,-0.4147421743389535,0.0029329673293948108,0.00015595460921177638,0.0031927992653086835,-0.0034283653889963287,0.0029331097484482653,0.00015657856959701776,0.0032003785490731266,-0.0034364029507350955,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,1.7658193178652734e-17,-1.4684391683095183e-16,-1.3226815841883603e-07],"qvel":[-0.00023780820255263287,0.020860647083946332,-0.2328657115002191,0.20872701462408375,-7.532781135302755e-07,7.425059659844974e-07,-0.00011968270489912286,-4.413841577653567e-05,-4.422537889748881e-05,0.00025147767025407837,-9.715853317819006e-05,9.966383884429267e-06,0.00020801283250098266,0.0002614983431011014,1.8066302363821834e-16,1.9054737203190132e-17,5.377109719106025e-15,-4.100727791774065e-16,5.385389576321269e-15,-1.049643032987671e-08],"joint_position_rad":[-1.9855300449550963,-1.608731954127287,1.4916235415445696,-1.4538825540893523,-1.570777608786875,-0.4147421743389535],"joint_velocity_rad_s":[-0.00023780820255263287,0.020860647083946332,-0.2328657115002191,0.20872701462408375,-7.532781135302755e-07,7.425059659844974e-07],"linkage_position_rad":[0.0029329673293948108,0.00015595460921177638,0.0031927992653086835,-0.0034283653889963287,0.0029331097484482653,0.00015657856959701776,0.0032003785490731266,-0.0034364029507350955],"tcp_position_m":[0.06804836959287519,0.48712271548150105,0.3777153340888273],"tcp_quaternion_wxyz":[-4.3975707079557555e-05,0.7071037874459908,0.7071097681553927,8.732066512485387e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,1.7658193178652734e-17,-1.4684391683095183e-16,-1.3226815841883603e-07],"object_linear_velocity_m_s":[1.8066302363821834e-16,1.9054737203190132e-17,5.377109719106025e-15],"object_angular_velocity_rad_s":[-4.1007135146359575e-16,5.3853896851709286e-15,-1.0496430329876731e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489682621956,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339556894032,-1.6139701513027234,1.4352935066595858,-1.417199506816676,-1.5707748656087415,-0.41474204836041206,0.0],"actuator_force":[0.08730181240753154,-18.820653184451203,-19.513785169880066,-2.5311778260703477,0.0014469168780806285,-1.1261325909117659e-05,-0.2922196477017673],"issued_joint_targets_rad":[-1.9855383776445572,-1.6037044298877159,1.4406779402835095,-1.4080079501176896,-1.5707760084705482,-0.41474204850317886],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.839999999999431,"joint_targets_rad":[-1.9855383776445572,-1.6037044298877159,1.4406779402835095,-1.4080079501176896,-1.5707760084705482,-0.41474204850317886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.85999999999942,"qpos":[-1.9855300186509293,-1.6082559116605204,1.4867907027050078,-1.4495249029099855,-1.5707774339657241,-0.4147421626622006,0.0029329657256762735,0.00015595393083546414,0.003192805874501864,-0.0034283622690284904,0.002933108338280395,0.00015658022517544114,0.0032003935804542877,-0.003436398110089886,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999922,3.028377767165856e-17,-1.7922645271376223e-16,-1.3273845141300106e-07],"qvel":[-0.0002410610496949759,0.021731356808099088,-0.23380131607186003,0.20879555314633802,-7.439127628760674e-07,6.725962451815436e-07,-0.00011967487704574311,-4.4186293510978184e-05,-4.300629936497752e-05,0.0002518125629489499,-9.709677176630948e-05,1.0157191941913164e-05,0.00021002540037359622,0.0002617993694432948,2.247672305176709e-16,3.707552618993137e-17,5.375721940325244e-15,-5.741886931723171e-16,4.118873899667341e-15,-1.916383110357553e-08],"joint_position_rad":[-1.9855300186509293,-1.6082559116605204,1.4867907027050078,-1.4495249029099855,-1.5707774339657241,-0.4147421626622006],"joint_velocity_rad_s":[-0.0002410610496949759,0.021731356808099088,-0.23380131607186003,0.20879555314633802,-7.439127628760674e-07,6.725962451815436e-07],"linkage_position_rad":[0.0029329657256762735,0.00015595393083546414,0.003192805874501864,-0.0034283622690284904,0.002933108338280395,0.00015658022517544114,0.0032003935804542877,-0.003436398110089886],"tcp_position_m":[0.06804779724177054,0.4871215573575032,0.379418600011883],"tcp_quaternion_wxyz":[-4.390236444024651e-05,0.7071037823000027,0.7071097733588693,8.689062383828773e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999922,3.028377767165856e-17,-1.7922645271376223e-16,-1.3273845141300106e-07],"object_linear_velocity_m_s":[2.247672305176709e-16,3.707552618993137e-17,5.375721940325244e-15],"object_angular_velocity_rad_s":[-5.74187592837081e-16,4.118874053261746e-15,-1.916383110357557e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489483112114,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339577935915,-1.6133284229810092,1.4302791331072198,-1.4128281531925295,-1.5707746987691977,-0.41474205049151613,0.0],"actuator_force":[0.08854613455332583,-18.83756536421697,-19.50261276683159,-2.531180455905769,0.0014419895394439664,-1.117428229235884e-05,-0.2922198449537732],"issued_joint_targets_rad":[-1.9855383809622205,-1.6030391259256889,1.4356379653002171,-1.4036342229948873,-1.5707758406698547,-0.41474205173605017],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.85999999999942,"joint_targets_rad":[-1.9855383809622205,-1.6030391259256889,1.4356379653002171,-1.4036342229948873,-1.5707758406698547,-0.41474205173605017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.87999999999941,"qpos":[-1.9855299953630035,-1.6077618097896835,1.4819383944800304,-1.4451657395487656,-1.5707772596025382,-0.4147421524114572,0.002932964328040056,0.00015595324572998233,0.0031928127643806353,-0.003428359322019286,0.0029331071353843256,0.00015658189271776073,0.003200408953438925,-0.003436393433087213,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,2.0711933691300104e-17,-1.699663647685676e-16,-1.3320237003155017e-07],"qvel":[-0.00024430824008915715,0.022603527187744353,-0.23474347375478183,0.2088686866846368,-7.241335116055068e-07,6.043163764689136e-07,-0.00011966975921411502,-4.423493048857559e-05,-4.177809339058689e-05,0.00025215364431080764,-9.703710432026368e-05,1.0350162232180022e-05,0.00021205749644651186,0.00026210687873753143,2.311503814771968e-16,2.5717568878754462e-17,5.939160125322512e-15,-9.944899405173065e-16,3.025423930682109e-15,-3.498831612505137e-08],"joint_position_rad":[-1.9855299953630035,-1.6077618097896835,1.4819383944800304,-1.4451657395487656,-1.5707772596025382,-0.4147421524114572],"joint_velocity_rad_s":[-0.00024430824008915715,0.022603527187744353,-0.23474347375478183,0.2088686866846368,-7.241335116055068e-07,6.043163764689136e-07],"linkage_position_rad":[0.002932964328040056,0.00015595324572998233,0.0031928127643806353,-0.003428359322019286,0.0029331071353843256,0.00015658189271776073,0.003200408953438925,-0.003436393433087213],"tcp_position_m":[0.06804730388296716,0.48712057481772386,0.38112168995471074],"tcp_quaternion_wxyz":[-4.381029806875495e-05,0.7071037777200139,0.7071097780030552,8.641303564406128e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,2.0711933691300104e-17,-1.699663647685676e-16,-1.3320237003155017e-07],"object_linear_velocity_m_s":[2.311503814771968e-16,2.5717568878754462e-17,5.939160125322512e-15],"object_angular_velocity_rad_s":[-9.944891226363214e-16,3.0254241970681852e-15,-3.498831612505137e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489279852785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339608795464,-1.6126685555135813,1.4252441560096232,-1.4084543755908419,-1.5707745304042338,-0.4147420537256418,0.0],"actuator_force":[0.08979226295014087,-18.854902322893395,-19.491087438902014,-2.531186689501851,0.001437012503402002,-1.1088729962693833e-05,-0.2922200388535472],"issued_joint_targets_rad":[-1.9855383847301926,-1.6023554140895373,1.4305770239856317,-1.3992579506589033,-1.5707756712916163,-0.4147420554198295],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.87999999999941,"joint_targets_rad":[-1.9855383847301926,-1.6023554140895373,1.4305770239856317,-1.3992579506589033,-1.5707756712916163,-0.4147420554198295],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.899999999999398,"qpos":[-1.9855299747093809,-1.6072496156909688,1.477066476749662,-1.4408049665869944,-1.570777085502016,-0.4147421434963258,0.002932963097153824,0.0001559525537306586,0.003192819896502193,-0.0034283565107242836,0.0029331061004716063,0.00015658357259233372,0.0032004246321322193,-0.003436388881561178,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,1.761619652784811e-18,-1.5156278390451274e-16,-1.335773921075112e-07],"qvel":[-0.0002475489725227026,0.023477313413313352,-0.23569241429022864,0.20894654003762336,-6.946466753495719e-07,5.405024573822735e-07,-0.00011966696916652655,-4.428434624884574e-05,-4.054011292920378e-05,0.0002525006469750277,-9.697913513448227e-05,1.0545343530843493e-05,0.0002141099695965435,0.00026242057184338235,2.719569298605589e-16,-1.7306354224133262e-17,6.233369226848177e-15,-2.692700950982977e-15,-3.051447965156092e-15,-6.387982959409503e-08],"joint_position_rad":[-1.9855299747093809,-1.6072496156909688,1.477066476749662,-1.4408049665869944,-1.570777085502016,-0.4147421434963258],"joint_velocity_rad_s":[-0.0002475489725227026,0.023477313413313352,-0.23569241429022864,0.20894654003762336,-6.946466753495719e-07,5.405024573822735e-07],"linkage_position_rad":[0.002932963097153824,0.0001559525537306586,0.003192819896502193,-0.0034283565107242836,0.0029331061004716063,0.00015658357259233372,0.0032004246321322193,-0.003436388881561178],"tcp_position_m":[0.06804689259280407,0.48711977542215296,0.3828246026540856],"tcp_quaternion_wxyz":[-4.370138796722394e-05,0.7071037736025291,0.7071097821906688,8.589246849606349e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,1.761619652784811e-18,-1.5156278390451274e-16,-1.335773921075112e-07],"object_linear_velocity_m_s":[2.719569298605589e-16,-1.7306354224133262e-17,6.233369226848177e-15],"object_angular_velocity_rad_s":[-2.692701746828194e-15,-3.051447245562981e-15,-6.387982959409503e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313489073168149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533964290297,-1.611990486142951,1.4201883897798224,-1.4040780518604359,-1.5707743604628557,-0.41474205741085546,0.0],"actuator_force":[0.091040427176722,-18.87266626929022,-19.479208223587193,-2.5311966404830173,0.0014319842476879785,-1.100751057947491e-05,-0.29222022935976644],"issued_joint_targets_rad":[-1.9855383882494602,-1.6016532271286337,1.4254949249626678,-1.3948790093361774,-1.570775500284215,-0.4147420588569308],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.899999999999398,"joint_targets_rad":[-1.9855383882494602,-1.6016532271286337,1.4254949249626678,-1.3948790093361774,-1.570775500284215,-0.4147420588569308],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.919999999999387,"qpos":[-1.9855299562745758,-1.6067192932697985,1.4721748045796341,-1.4364424840980643,-1.5707769114826298,-0.41474213576842206,0.0029329620007507514,0.00015595185466953286,0.0031928272394621485,-0.0034283538046168444,0.0029331052013133446,0.00015658526515868862,0.0032004405876098685,-0.0034363844240439304,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-8.197187451501661e-18,-1.2628659952687682e-16,-1.3387455730770736e-07],"qvel":[-0.0002507823901145525,0.02435287427741463,-0.23664837130409427,0.20902923341662072,-6.560801079369925e-07,4.839283220140144e-07,-0.0001196661965785212,-4.4334561227308976e-05,-3.9291764427448465e-05,0.0002528533789898004,-9.692253961517098e-05,1.0742786910539932e-05,0.0002161836223879616,0.0002627402214122597,3.2632411824138863e-16,-3.8645817264241083e-17,6.338840414187569e-15,-2.492419289524019e-15,-8.767081676078948e-15,-1.166284371727435e-07],"joint_position_rad":[-1.9855299562745758,-1.6067192932697985,1.4721748045796341,-1.4364424840980643,-1.5707769114826298,-0.41474213576842206],"joint_velocity_rad_s":[-0.0002507823901145525,0.02435287427741463,-0.23664837130409427,0.20902923341662072,-6.560801079369925e-07,4.839283220140144e-07],"linkage_position_rad":[0.0029329620007507514,0.00015595185466953286,0.0031928272394621485,-0.0034283538046168444,0.0029331052013133446,0.00015658526515868862,0.0032004405876098685,-0.0034363844240439304],"tcp_position_m":[0.06804656662985657,0.4871191671753464,0.3845273368124106],"tcp_quaternion_wxyz":[-4.3577333058423166e-05,0.7071037698527337,0.7071097860158201,8.533304339628707e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-8.197187451501661e-18,-1.2628659952687682e-16,-1.3387455730770736e-07],"object_linear_velocity_m_s":[3.2632411824138863e-16,-3.8645817264241083e-17,6.338840414187569e-15],"object_angular_velocity_rad_s":[-2.4924216074450697e-15,-8.767081010647631e-15,-1.1662843717274353e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488863318518,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339673232173,-1.6112941481841705,1.4151116432600388,-1.3996990582431892,-1.5707741888928517,-0.41474206084956133,0.0],"actuator_force":[0.09229085876313547,-18.890859539710164,-19.466974117553036,-2.5312104142244607,0.0014269028997659916,-1.0933401824786415e-05,-0.29222041642223634],"issued_joint_targets_rad":[-1.9855383907695867,-1.6009324935275162,1.4203914709415053,-1.3904972736112955,-1.5707753275945515,-0.41474206129832675],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.919999999999387,"joint_targets_rad":[-1.9855383907695867,-1.6009324935275162,1.4203914709415053,-1.3904972736112955,-1.5707753275945515,-0.41474206129832675],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.939999999999376,"qpos":[-1.9855299396068504,-1.6061708030697668,1.467263228121237,-1.4320781897304697,-1.5707767373751718,-0.41474212902202845,0.0029329610123510733,0.00015595114837523217,0.003192834767616223,-0.0034283511786670708,0.0029331044114618045,0.00015658697076888402,0.003200456796653841,-0.0034363800345593456,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-1.5179353596603282e-17,-1.1895659966212189e-16,-1.3431695675078083e-07],"qvel":[-0.0002540075683351044,0.025230373164404303,-0.23761158344002514,0.20911688305602175,-6.089891018607816e-07,4.373380241967536e-07,-0.0001196671905006832,-4.438559710573714e-05,-3.803249476241537e-05,0.0002532117132077361,-9.686705161897496e-05,1.0942546092678283e-05,0.00021827922654078858,0.00026306565968582993,1.497430333357026e-16,-1.6530231111131252e-17,6.377698220049453e-15,3.4632467281411847e-16,4.750213142257039e-15,-1.2635736077867049e-08],"joint_position_rad":[-1.9855299396068504,-1.6061708030697668,1.467263228121237,-1.4320781897304697,-1.5707767373751718,-0.41474212902202845],"joint_velocity_rad_s":[-0.0002540075683351044,0.025230373164404303,-0.23761158344002514,0.20911688305602175,-6.089891018607816e-07,4.373380241967536e-07],"linkage_position_rad":[0.0029329610123510733,0.00015595114837523217,0.003192834767616223,-0.0034283511786670708,0.0029331044114618045,0.00015658697076888402,0.003200456796653841,-0.0034363800345593456],"tcp_position_m":[0.06804632945285513,0.48711875857122444,0.38622989109626416],"tcp_quaternion_wxyz":[-4.3439668542823784e-05,0.7071037663833007,0.707109789565196,8.473847705109917e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-1.5179353596603282e-17,-1.1895659966212189e-16,-1.3431695675078083e-07],"object_linear_velocity_m_s":[1.497430333357026e-16,-1.6530231111131252e-17,6.377698220049453e-15],"object_angular_velocity_rad_s":[3.463259518886608e-16,4.750213048838712e-15,-1.2635736077867052e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488650511934,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533969224224,-1.610579470741371,1.410013719396953,-1.3953172693357696,-1.5707740156405707,-0.41474206329272373,0.0],"actuator_force":[0.09354379258684276,-18.909484608969706,-19.454384072557787,-2.531228108252094,0.0014217662106830176,-1.0869150059988897e-05,-0.29222059998004557],"issued_joint_targets_rad":[-1.9855383914821243,-1.600193137180283,1.415266458353307,-1.3861126163877344,-1.5707751531678156,-0.4147420619369707],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.939999999999376,"joint_targets_rad":[-1.9855383914821243,-1.600193137180283,1.415266458353307,-1.3861126163877344,-1.5707751531678156,-0.4147420619369707],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.959999999999365,"qpos":[-1.985529924215041,-1.6056041021596286,1.4623315924863127,-1.427711978779036,-1.5707765630214103,-0.4147421229940602,0.0029329601102138555,0.00015595043467289116,0.0031928424600312596,-0.003428348612353404,0.002933103709202162,0.00015658868976853717,0.003200473240716141,-0.0034363756916085527,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-3.371568793852547e-17,-1.1872313393999112e-16,-1.347614333977581e-07],"qvel":[-0.0002572235015866998,0.026109979134290983,-0.23858229557537114,0.209209601767221,-5.538615713717684e-07,4.0347889332210166e-07,-0.0001196697490440177,-4.44374768014886e-05,-3.6761778255609516e-05,0.0002535755800782947,-9.681245303477913e-05,1.1144677664236284e-05,0.00022039753634560353,0.0002633967698347395,1.5605623761214846e-16,-4.269910612829348e-17,6.501210531539e-15,-1.2497097938247627e-16,2.931966402143015e-15,-2.3069663157415395e-08],"joint_position_rad":[-1.985529924215041,-1.6056041021596286,1.4623315924863127,-1.427711978779036,-1.5707765630214103,-0.4147421229940602],"joint_velocity_rad_s":[-0.0002572235015866998,0.026109979134290983,-0.23858229557537114,0.209209601767221,-5.538615713717684e-07,4.0347889332210166e-07],"linkage_position_rad":[0.0029329601102138555,0.00015595043467289116,0.0031928424600312596,-0.003428348612353404,0.002933103709202162,0.00015658868976853717,0.003200473240716141,-0.0034363756916085527],"tcp_position_m":[0.06804618474113912,0.48711855864411435,0.38793226413480153],"tcp_quaternion_wxyz":[-4.328978159862993e-05,0.7071037631132766,0.7071097929191681,8.411212041638708e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-3.371568793852547e-17,-1.1872313393999112e-16,-1.347614333977581e-07],"object_linear_velocity_m_s":[1.5605623761214846e-16,-4.269910612829348e-17,6.501210531539e-15],"object_angular_velocity_rad_s":[-1.2497018367267652e-16,2.931966434269826e-15,-2.3069663157415405e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488434913644,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533969181179,-1.6098463783842134,1.4048944148757063,-1.3909325580506238,-1.5707738406506884,-0.4147420639332882,0.0],"actuator_force":[0.09479946835836017,-18.928544102886008,-19.441436991064165,-2.53124981251608,0.0014165715181206906,-1.0817503323323763e-05,-0.2922207799604069],"issued_joint_targets_rad":[-1.9855383895130645,-1.5994350770165018,1.4101196769347843,-1.381724908848006,-1.5707749769472332,-0.4147420599002729],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.959999999999365,"joint_targets_rad":[-1.9855383895130645,-1.5994350770165018,1.4101196769347843,-1.381724908848006,-1.5707749769472332,-0.4147420599002729],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.979999999999354,"qpos":[-1.985529909564842,-1.6050191439959072,1.4573797375951874,-1.4233437442454195,-1.570776388272857,-0.4147421173633171,0.0029329592764769175,0.00015594971338334795,0.003192850299622043,-0.0034283460888538666,0.002933103076692307,0.0001565904224975942,0.003200489905069211,-0.003436371377355253,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-5.667569394846205e-17,-1.1007288650462895e-16,-1.3519246145600253e-07],"qvel":[-0.00026042908792286095,0.026991868129144725,-0.23956076014853797,0.20930749944072352,-4.911224959971778e-07,3.851357466373717e-07,-0.00011967371112446823,-4.449022471816605e-05,-3.547910550309e-05,0.0002539449594201165,-9.675856537516685e-05,1.1349241356494138e-05,0.00022253930056902172,0.00026373347689821313,1.5884398574168811e-16,-9.020804642426356e-17,6.540068337400883e-15,-1.793137604251362e-15,1.1241444846511603e-15,-4.211937910992299e-08],"joint_position_rad":[-1.985529909564842,-1.6050191439959072,1.4573797375951874,-1.4233437442454195,-1.570776388272857,-0.4147421173633171],"joint_velocity_rad_s":[-0.00026042908792286095,0.026991868129144725,-0.23956076014853797,0.20930749944072352,-4.911224959971778e-07,3.851357466373717e-07],"linkage_position_rad":[0.0029329592764769175,0.00015594971338334795,0.003192850299622043,-0.0034283460888538666,0.002933103076692307,0.0001565904224975942,0.003200489905069211,-0.003436371377355253],"tcp_position_m":[0.06804613641810614,0.4871185770271565,0.38963445451797174],"tcp_quaternion_wxyz":[-4.31289255707204e-05,0.707103759967034,0.7071097961528385,8.345699350905781e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-5.667569394846205e-17,-1.1007288650462895e-16,-1.3519246145600253e-07],"object_linear_velocity_m_s":[1.5884398574168811e-16,-9.020804642426356e-17,6.540068337400883e-15],"object_angular_velocity_rad_s":[-1.793137291027175e-15,1.1241449647142013e-15,-4.211937910992301e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313488216654009,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339663163365,-1.6090947907763427,1.399753519704766,-1.386544795576336,-1.5707736638659495,-0.4147420618986586,0.0],"actuator_force":[0.09605813218013282,-18.948040812529143,-19.42813172142769,-2.531275609530553,0.0014113157031943047,-1.0781245379121174e-05,-0.29222095627596306],"issued_joint_targets_rad":[-1.9855383839141432,-1.5986582265687033,1.4049509092537698,-1.3773340204133377,-1.570774798873781,-0.4147420542414197],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.979999999999354,"joint_targets_rad":[-1.9855383839141432,-1.5986582265687033,1.4049509092537698,-1.3773340204133377,-1.570774798873781,-0.4147420542414197],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.999999999999343,"qpos":[-1.98552989507445,-1.604415878258029,1.4524074979946178,-1.4189733768888388,-1.570776212989624,-0.41474211174897924,0.0029329584964516075,0.00015594898432283512,0.003192858272438822,-0.003428343594379503,0.002933102499257317,0.00015659216929111267,0.003200506778108135,-0.003436367076945129,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-6.713383366826091e-17,-8.433284209145696e-17,-1.3552446515562797e-07],"qvel":[-0.00026362311155136845,0.027876224336713825,-0.24054723863265648,0.20941068350040015,-4.211376175307156e-07,3.851671398816122e-07,-0.00011967894970309618,-4.454386699508898e-05,-3.4183973551276726e-05,0.00025431987672551464,-9.670524283710142e-05,1.1556300589440246e-05,0.00022470527477215648,0.00026407574446974373,1.3706918787590403e-16,-1.7390863115534155e-16,6.567823913016513e-15,-6.8284175678543775e-15,7.108390246416848e-16,-7.689934978678936e-08],"joint_position_rad":[-1.98552989507445,-1.604415878258029,1.4524074979946178,-1.4189733768888388,-1.570776212989624,-0.41474211174897924],"joint_velocity_rad_s":[-0.00026362311155136845,0.027876224336713825,-0.24054723863265648,0.20941068350040015,-4.211376175307156e-07,3.851671398816122e-07],"linkage_position_rad":[0.0029329584964516075,0.00015594898432283512,0.003192858272438822,-0.003428343594379503,0.002933102499257317,0.00015659216929111267,0.003200506778108135,-0.003436367076945129],"tcp_position_m":[0.06804618867819985,0.48711882401944895,0.39133646079454043],"tcp_quaternion_wxyz":[-4.2958232805406285e-05,0.7071037568732567,0.707109799337048,8.277581685210353e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-6.713383366826091e-17,-8.433284209145696e-17,-1.3552446515562797e-07],"object_linear_velocity_m_s":[1.3706918787590403e-16,-1.7390863115534155e-16,6.567823913016513e-15],"object_angular_velocity_rad_s":[-6.828417362211694e-15,7.108408651518385e-16,-7.689934978678941e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487995834902,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339596776418,-1.6083246222459797,1.3945908167418237,-1.3821538513374954,-1.5707734852268793,-0.4147420562420152,0.0],"actuator_force":[0.09732003823683044,-18.967977710587093,-19.41446705252565,-2.5313055743682753,0.0014059951341778287,-1.0763231983901278e-05,-0.2922211288227452],"issued_joint_targets_rad":[-1.9855383736527552,-1.5978624934689534,1.399759930163467,-1.3729398187030932,-1.5707746188858718,-0.41474204392930764],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.999999999999343,"joint_targets_rad":[-1.9855383736527552,-1.5978624934689534,1.399759930163467,-1.3729398187030932,-1.5707746188858718,-0.41474204392930764],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.019999999999332,"qpos":[-1.9855298801094512,-1.6037942506520153,1.4474147026419875,-1.4146007652679153,-1.5707760370393629,-0.4147421057082903,0.0029329577580435202,0.00015594824730222827,0.003192866367080061,-0.0034283411176357598,0.002933101964809709,0.00015659393047913337,0.0032005238507752487,-0.003436362777950354,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-6.816298424302337e-17,-5.812609803619527e-17,-1.3581616270678354e-07],"qvel":[-0.0002668042225699171,0.028763241754667948,-0.24154200319879784,0.20951925931312312,-3.442164698415305e-07,4.065445012438889e-07,-0.00011968536644010896,-4.459843167965305e-05,-3.287587556149343e-05,0.000254700400526884,-9.665236674854341e-05,1.176592280248753e-05,0.00022689623128384148,0.0002644235674450007,7.496483164393259e-17,-8.321259727924751e-17,6.6233350642477716e-15,2.7394451832597843e-15,3.1539203183969803e-15,-8.331414807747404e-09],"joint_position_rad":[-1.9855298801094512,-1.6037942506520153,1.4474147026419875,-1.4146007652679153,-1.5707760370393629,-0.4147421057082903],"joint_velocity_rad_s":[-0.0002668042225699171,0.028763241754667948,-0.24154200319879784,0.20951925931312312,-3.442164698415305e-07,4.065445012438889e-07],"linkage_position_rad":[0.0029329577580435202,0.00015594824730222827,0.003192866367080061,-0.0034283411176357598,0.002933101964809709,0.00015659393047913337,0.0032005238507752487,-0.003436362777950354],"tcp_position_m":[0.0680463460181227,0.48711931066362585,0.39303828146987896],"tcp_quaternion_wxyz":[-4.277872625375991e-05,0.7071037537639513,0.7071098025393607,8.20710398701538e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-6.816298424302337e-17,-5.812609803619527e-17,-1.3581616270678354e-07],"object_linear_velocity_m_s":[7.496483164393259e-17,-8.321259727924751e-17,6.6233350642477716e-15],"object_angular_velocity_rad_s":[2.739446040934941e-15,3.1539195731392123e-15,-8.331414807747409e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348777253513,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339482286416,-1.607535781286223,1.389406081148393,-1.3777595929542736,-1.5707733046714658,-0.4147420459322497,0.0],"actuator_force":[0.09858545064707869,-18.988357970282777,-19.40044170766987,-2.5313397744913573,0.0014006055954496333,-1.076642982411613e-05,-0.2922212974767182],"issued_joint_targets_rad":[-1.9855383576001908,-1.5970477788586288,1.3945465061697322,-1.368542169494209,-1.5707744369189849,-0.4147420278368044],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.019999999999332,"joint_targets_rad":[-1.9855383576001908,-1.5970477788586288,1.3945465061697322,-1.368542169494209,-1.5707744369189849,-0.4147420278368044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.03999999999932,"qpos":[-1.9855298639768102,-1.6031542026776824,1.4424011746508723,-1.4102257957744384,-1.570775860296267,-0.41474209873334505,0.0029329570512767844,0.00015594750212621295,0.003192874574203549,-0.0034283386493765993,0.0029331014633730387,0.00015659570638656403,0.003200541116086487,-0.0034363584699029703,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-7.656094766039938e-17,-6.000698786795848e-17,-1.3628963994577788e-07],"qvel":[-0.0002699709133462641,0.029653126010404308,-0.24254533862307484,0.20963333055617075,-2.6061461192049135e-07,4.523951904705419e-07,-0.00011969288742230231,-4.465394911115473e-05,-3.155429207345177e-05,0.00025508664091120927,-9.65998410305259e-05,1.1978180126768127e-05,0.00022911297115114118,0.00026477696996952217,7.660668475531051e-17,-9.715433786303461e-17,6.685785109382939e-15,2.6780924682529946e-15,2.0016623812507025e-15,-1.5211059494674284e-08],"joint_position_rad":[-1.9855298639768102,-1.6031542026776824,1.4424011746508723,-1.4102257957744384,-1.570775860296267,-0.41474209873334505],"joint_velocity_rad_s":[-0.0002699709133462641,0.029653126010404308,-0.24254533862307484,0.20963333055617075,-2.6061461192049135e-07,4.523951904705419e-07],"linkage_position_rad":[0.0029329570512767844,0.00015594750212621295,0.003192874574203549,-0.0034283386493765993,0.0029331014633730387,0.00015659570638656403,0.003200541116086487,-0.0034363584699029703],"tcp_position_m":[0.06804661327312674,0.4871200488359781,0.3947399150034852],"tcp_quaternion_wxyz":[-4.259132996919032e-05,0.7071037505734551,0.7071098058250528,8.134486652503554e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-7.656094766039938e-17,-6.000698786795848e-17,-1.3628963994577788e-07],"object_linear_velocity_m_s":[7.660668475531051e-17,-9.715433786303461e-17,6.685785109382939e-15],"object_angular_velocity_rad_s":[2.6780930156901274e-15,2.0016616489289667e-15,-1.5211059494674297e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487546814815,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339308367157,-1.6067281699692897,1.3841990797574661,-1.3733618862019954,-1.5707731221347867,-0.4147420298422254,0.0],"actuator_force":[0.0998546455275573,-19.009184987376102,-19.38605433758221,-2.5313782693956455,0.0013951422013178671,-1.0793959205557258e-05,-0.29222146209022704],"issued_joint_targets_rad":[-1.9855383345178093,-1.5962139766910581,1.3893103946913836,-1.3641409366810449,-1.5707742529052462,-0.41474200472694356],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.03999999999932,"joint_targets_rad":[-1.9855383345178093,-1.5962139766910581,1.3893103946913836,-1.3641409366810449,-1.5707742529052462,-0.41474200472694356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.05999999999931,"qpos":[-1.9855298459177706,-1.6024956713529037,1.4373667309917373,-1.4058483526598227,-1.570775682640136,-0.4147420902468706,0.002932956367902619,0.00015594674859211003,0.003192882886117413,-0.003428336182046279,0.0029331009866895444,0.0001565974973328743,0.003200558568738073,-0.0034363541439165267,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-8.786033425355914e-17,-5.559055441396352e-17,-1.367628130682139e-07],"qvel":[-0.00027312149067001,0.03054609650698292,-0.24355754450711667,0.20975299954397056,-1.7053509785266198e-07,5.26050917452174e-07,-0.00011970145990070119,-4.471045230067733e-05,-3.021868082899645e-05,0.0002554787489931928,-9.654758860603576e-05,1.2193150134916594e-05,0.0002313563361071157,0.00026513600404619845,7.289672146803272e-17,-1.1881246667085416e-16,6.7121529062177885e-15,9.907059860966462e-16,1.2921272636664739e-15,-2.7771553366346437e-08],"joint_position_rad":[-1.9855298459177706,-1.6024956713529037,1.4373667309917373,-1.4058483526598227,-1.570775682640136,-0.4147420902468706],"joint_velocity_rad_s":[-0.00027312149067001,0.03054609650698292,-0.24355754450711667,0.20975299954397056,-1.7053509785266198e-07,5.26050917452174e-07],"linkage_position_rad":[0.002932956367902619,0.00015594674859211003,0.003192882886117413,-0.003428336182046279,0.0029331009866895444,0.0001565974973328743,0.003200558568738073,-0.0034363541439165267],"tcp_position_m":[0.06804699565943947,0.4871210513517592,0.3964413598061871],"tcp_quaternion_wxyz":[-4.2396878604956874e-05,0.7071037472374144,0.7071098092581285,8.059927846118108e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-8.786033425355914e-17,-5.559055441396352e-17,-1.367628130682139e-07],"object_linear_velocity_m_s":[7.289672146803272e-17,-1.1881246667085416e-16,6.7121529062177885e-15],"object_angular_velocity_rad_s":[9.907063426142004e-16,1.2921269878029154e-15,-2.777155336634646e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487318719166,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855339062592468,-1.6059016832544906,1.378969570334225,-1.3689605949710932,-1.5707729375485862,-0.414742006734972,0.0],"actuator_force":[0.10112791331584958,-19.030462405966773,-19.371303512177747,-2.5314211100323973,0.0013895992846073568,-1.0849142483948526e-05,-0.2922216224870745],"issued_joint_targets_rad":[-1.9855383030406941,-1.5953609729007003,1.3840513431876658,-1.3597359822361714,-1.570774066772924,-0.4147419732366113],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.05999999999931,"joint_targets_rad":[-1.9855383030406941,-1.5953609729007003,1.3840513431876658,-1.3597359822361714,-1.570774066772924,-0.4147419732366113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.079999999999298,"qpos":[-1.9855298250994367,-1.6018185888866925,1.4323111821397057,-1.4014683180549712,-1.5707755039554834,-0.41474207959686016,0.002932955701076841,0.00015594598648914701,0.0031928912964345278,-0.003428333709493313,0.002933100527896274,0.00015659930363031812,0.003200576204774957,-0.003436349792364057,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-9.99744683473094e-17,-4.371519087688579e-17,-1.3715884589503942e-07],"qvel":[-0.00027625404275481344,0.031442388986940635,-0.24457893790188429,0.20987836751461494,-7.412902359508652e-08,6.311030202624838e-07,-0.0001197110498365064,-4.476797737689958e-05,-2.8868466731613114e-05,0.0002558769205786322,-9.649554855239776e-05,1.2410916677855054e-05,0.00023362722114532151,0.00026550074584583193,6.318362411451215e-17,-1.731015063729677e-16,6.752398490860452e-15,-2.690578707285854e-15,8.891829616613616e-16,-5.070384325627466e-08],"joint_position_rad":[-1.9855298250994367,-1.6018185888866925,1.4323111821397057,-1.4014683180549712,-1.5707755039554834,-0.41474207959686016],"joint_velocity_rad_s":[-0.00027625404275481344,0.031442388986940635,-0.24457893790188429,0.20987836751461494,-7.412902359508652e-08,6.311030202624838e-07],"linkage_position_rad":[0.002932955701076841,0.00015594598648914701,0.0031928912964345278,-0.003428333709493313,0.002933100527896274,0.00015659930363031812,0.003200576204774957,-0.003436349792364057],"tcp_position_m":[0.06804749882417632,0.48712233208900785,0.3981426142369809],"tcp_quaternion_wxyz":[-4.219612601125651e-05,0.7071037436917063,0.707109812902398,7.983605589580646e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-9.99744683473094e-17,-4.371519087688579e-17,-1.3715884589503942e-07],"object_linear_velocity_m_s":[6.318362411451215e-17,-1.731015063729677e-16,6.752398490860452e-15],"object_angular_velocity_rad_s":[-2.690578458934083e-15,8.891836895964895e-16,-5.0703843256274717e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487088281748,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533873127273,-1.6050562081637771,1.373717300703946,-1.3645555812279766,-1.5707727508407687,-0.4147419752473727,0.0],"actuator_force":[0.1024055614293502,-19.052194148946,-19.356187710765425,-2.5314683379641565,0.0013839702596669667,-1.0935558293567738e-05,-0.2922217784567112],"issued_joint_targets_rad":[-1.9855382616581758,-1.594488644404423,1.3787690881190897,-1.3553271661728612,-1.5707738784458347,-0.41474193185709823],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.079999999999298,"joint_targets_rad":[-1.9855382616581758,-1.594488644404423,1.3787690881190897,-1.3553271661728612,-1.5707738784458347,-0.41474193185709823],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.099999999999287,"qpos":[-1.9855298006047386,-1.601122882290468,1.4272343316590141,-1.397085571984259,-1.570775324130671,-0.41474206604987296,0.002932955045093226,0.0001559452155964397,0.0031928997997748955,-0.0034283312267278146,0.0029331000812567757,0.00015660112558277595,0.003200594021314416,-0.003436345408606097,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-1.0691859820548711e-16,-2.9383482607120345e-17,-1.3749774964415058e-07],"qvel":[-0.00027936639972637637,0.03234225863474826,-0.24560985645294178,0.21000953487529808,2.8504889979263456e-08,7.714668481346056e-07,-0.00011972164025329288,-4.482656424413598e-05,-2.750302976676876e-05,0.00025628139818524706,-9.644367393160793e-05,1.2631571057102054e-05,0.00023592659030186966,0.00026587129869420223,4.4632922106475716e-17,-2.9114013939072896e-16,6.795419633064679e-15,-1.1727103964892052e-14,9.89815540330529e-16,-9.257241347083639e-08],"joint_position_rad":[-1.9855298006047386,-1.601122882290468,1.4272343316590141,-1.397085571984259,-1.570775324130671,-0.41474206604987296],"joint_velocity_rad_s":[-0.00027936639972637637,0.03234225863474826,-0.24560985645294178,0.21000953487529808,2.8504889979263456e-08,7.714668481346056e-07],"linkage_position_rad":[0.002932955045093226,0.0001559452155964397,0.0031928997997748955,-0.0034283312267278146,0.0029331000812567757,0.00015660112558277595,0.003200594021314416,-0.003436345408606097],"tcp_position_m":[0.06804812890444926,0.48712390613515333,0.3998436765994268],"tcp_quaternion_wxyz":[-4.198975302843047e-05,0.7071037398712533,0.7071098168226554,7.905679647619665e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-1.0691859820548711e-16,-2.9383482607120345e-17,-1.3749774964415058e-07],"object_linear_velocity_m_s":[4.4632922106475716e-17,-2.9114013939072896e-16,6.795419633064679e-15],"object_angular_velocity_rad_s":[-1.1727103687256605e-14,9.898187454358766e-16,-9.257241347083649e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486855527164,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855338299260072,-1.60419162279064,1.3684420077133166,-1.3601467049775735,-1.5707725619348023,-0.4147419338707153,0.0],"actuator_force":[0.10368791735299965,-19.074384454243955,-19.340705310218254,-2.5315199841871845,0.001378247445359193,-1.1057105979261905e-05,-0.29222192974657557],"issued_joint_targets_rad":[-1.985538208690463,-1.5935968578893,1.3734633536969794,-1.3509143465103126,-1.5707736878426182,-0.41474187891077174],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.099999999999287,"joint_targets_rad":[-1.985538208690463,-1.5935968578893,1.3734633536969794,-1.3509143465103126,-1.5707736878426182,-0.41474187891077174],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.119999999999276,"qpos":[-1.9855297714203914,-1.600408472913727,1.4221359757106171,-1.3926999923743395,-1.570775143057069,-0.4147420487827573,0.0029329543951620457,0.00015594443568163732,0.00319290839150103,-0.0034283287297442056,0.0029330996419371686,0.0001566029634820352,0.0032006120163000705,-0.003436340986760617,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-1.1573761661407725e-16,-1.7636984018646704e-17,-1.3784889885918123e-07],"qvel":[-0.000282456085987304,0.03324598387915328,-0.24665066222447657,0.21014660140414548,1.3732197191491805e-07,9.514577633899891e-07,-0.00011973323028185683,-4.4886257316386945e-05,-2.6121691659506835e-05,0.00025669247776605316,-9.639193019761435e-05,1.2855213453587213e-05,0.0002382554941125373,0.0002662477906684672,2.435967852281422e-17,-1.3816198862494452e-16,6.899503041623289e-15,3.9247127828498595e-15,9.827695363408753e-16,-1.0029462908571335e-08],"joint_position_rad":[-1.9855297714203914,-1.600408472913727,1.4221359757106171,-1.3926999923743395,-1.570775143057069,-0.4147420487827573],"joint_velocity_rad_s":[-0.000282456085987304,0.03324598387915328,-0.24665066222447657,0.21014660140414548,1.3732197191491805e-07,9.514577633899891e-07],"linkage_position_rad":[0.0029329543951620457,0.00015594443568163732,0.00319290839150103,-0.0034283287297442056,0.0029330996419371686,0.0001566029634820352,0.0032006120163000705,-0.003436340986760617],"tcp_position_m":[0.06804889259789976,0.4871257899618967,0.40154454513752913],"tcp_quaternion_wxyz":[-4.1778374556524846e-05,0.7071037357086978,0.7071098210860065,7.826293231075512e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-1.1573761661407725e-16,-1.7636984018646704e-17,-1.3784889885918123e-07],"object_linear_velocity_m_s":[2.435967852281422e-17,-1.3816198862494452e-16,6.899503041623289e-15],"object_angular_velocity_rad_s":[3.924713054150891e-15,9.82768451984596e-16,-1.0029462908571348e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486620473742,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855337749714683,-1.6033077950970562,1.3631434159805058,-1.3557338242285786,-1.5707723707489902,-0.41474188092736497,0.0],"actuator_force":[0.10497533224088329,-19.097037918319984,-19.324854570431853,-2.5315760675341608,0.001372421842120275,-1.1218080175012801e-05,-0.29222207605256334],"issued_joint_targets_rad":[-1.9855381422603644,-1.5926854683257838,1.3681338503618683,-1.3464973792430734,-1.570773494875852,-0.41474181252284326],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.119999999999276,"joint_targets_rad":[-1.9855381422603644,-1.5926854683257838,1.3681338503618683,-1.3464973792430734,-1.570773494875852,-0.41474181252284326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.139999999999265,"qpos":[-1.9855297364223388,-1.5996752758860522,1.4170159024652174,-1.3883114550585032,-1.5707749606282029,-0.41474202687248435,0.002932953747225121,0.0001559436464987669,0.0031929170674775574,-0.003428326215376231,0.002933099205818034,0.00015660481760418037,0.0032006301882857055,-0.003436336521500291,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-8.959736475625238e-17,-2.3744476165362654e-17,-1.3829826935876079e-07],"qvel":[-0.00028552026229298837,0.03415387111375985,-0.24770174641486936,0.2102896664035549,2.5233467125454e-07,1.1758823770462621e-06,-0.00011974583497244837,-4.4947106546086666e-05,-2.4723699406060194e-05,0.00025711051703881076,-9.634029416997594e-05,1.3081954765955118e-05,0.00024061509208737588,0.0002666303790665473,3.115098467028579e-17,-1.1195037757475883e-16,6.959177529196892e-15,3.748776805569438e-15,3.9213353363041404e-16,-1.83112665162288e-08],"joint_position_rad":[-1.9855297364223388,-1.5996752758860522,1.4170159024652174,-1.3883114550585032,-1.5707749606282029,-0.41474202687248435],"joint_velocity_rad_s":[-0.00028552026229298837,0.03415387111375985,-0.24770174641486936,0.2102896664035549,2.5233467125454e-07,1.1758823770462621e-06],"linkage_position_rad":[0.002932953747225121,0.0001559436464987669,0.0031929170674775574,-0.003428326215376231,0.002933099205818034,0.00015660481760418037,0.0032006301882857055,-0.003436336521500291],"tcp_position_m":[0.06804979724752018,0.4871280016355254,0.40324521803098046],"tcp_quaternion_wxyz":[-4.156254599060911e-05,0.7071037311328411,0.7071098257634217,7.745574535002646e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-8.959736475625238e-17,-2.3744476165362654e-17,-1.3829826935876079e-07],"object_linear_velocity_m_s":[3.115098467028579e-17,-1.1195037757475883e-16,6.959177529196892e-15],"object_angular_velocity_rad_s":[3.748776914901661e-15,3.9213249345042817e-16,-1.8311266516228822e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486383135867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855337063822016,-1.602404581437712,1.357821236374143,-1.3513167949628657,-1.5707721771955845,-0.41474181454253156,0.0],"actuator_force":[0.1062681851913112,-19.120159548823267,-19.308633616200495,-2.5316365925367563,0.001366482842172445,-1.1423261327081491e-05,-0.29222221700644563],"issued_joint_targets_rad":[-1.9855380602587958,-1.59175431712316,1.362780272909481,-1.342076118316727,-1.5707732994509465,-0.4147417305869283],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.139999999999265,"joint_targets_rad":[-1.9855380602587958,-1.59175431712316,1.362780272909481,-1.342076118316727,-1.5707732994509465,-0.4147417305869283],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.159999999999254,"qpos":[-1.9855296943580183,-1.5989231994415378,1.4118738913981908,-1.383919833777398,-1.570774776738895,-0.41474199928368455,0.0029329530977991996,0.0001559428477855212,0.0031929258238358915,-0.0034283236811907657,0.0029330987693334,0.00015660668820293924,0.0032006485362305343,-0.003436332007864191,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-8.339527870108867e-17,-1.6259465356661434e-17,-1.3874154906730052e-07],"qvel":[-0.0002885556547446991,0.03506626063563996,-0.24876353525559747,0.2104388287970795,3.7361756113176087e-07,1.4501495231195243e-06,-0.0001197594858841299,-4.5009168719720394e-05,-2.3308204264853263e-05,0.00025753594728753247,-9.62887535406321e-05,1.331191897185259e-05,0.00024300668037459538,0.0002670192523271856,2.113947503872526e-17,-1.1723130417050398e-16,6.280553705394768e-15,1.3059067129122322e-15,7.919636239647421e-16,-3.3431748487926014e-08],"joint_position_rad":[-1.9855296943580183,-1.5989231994415378,1.4118738913981908,-1.383919833777398,-1.570774776738895,-0.41474199928368455],"joint_velocity_rad_s":[-0.0002885556547446991,0.03506626063563996,-0.24876353525559747,0.2104388287970795,3.7361756113176087e-07,1.4501495231195243e-06],"linkage_position_rad":[0.0029329530977991996,0.0001559428477855212,0.0031929258238358915,-0.0034283236811907657,0.0029330987693334,0.00015660668820293924,0.0032006485362305343,-0.003436332007864191],"tcp_position_m":[0.06805085094460346,0.4871305610721303,0.4049456933896528],"tcp_quaternion_wxyz":[-4.134276909641518e-05,0.7071037260667825,0.7071098309315973,7.66363813164867e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-8.339527870108867e-17,-1.6259465356661434e-17,-1.3874154906730052e-07],"object_linear_velocity_m_s":[2.113947503872526e-17,-1.1723130417050398e-16,6.280553705394768e-15],"object_angular_velocity_rad_s":[1.3059069337558679e-15,7.919632560215722e-16,-3.343174848792607e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313486143526452,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855336220447874,-1.601481824728886,1.3524751641399537,-1.346895471111127,-1.5707719811796776,-0.4147417326098291,0.0],"actuator_force":[0.10756688835954265,-19.143754828952297,-19.292040414235544,-2.5317015465724353,0.0013604178526520627,-1.1678024605998871e-05,-0.29222235215950615],"issued_joint_targets_rad":[-1.985537960302306,-1.5908032298125243,1.357402298152183,-1.3376504156128153,-1.5707731014647481,-0.4147416307226463],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.159999999999254,"joint_targets_rad":[-1.985537960302306,-1.5908032298125243,1.357402298152183,-1.3376504156128153,-1.5707731014647481,-0.4147416307226463],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.179999999999243,"qpos":[-1.985529643824541,-1.598152144093547,1.4067097124348455,-1.3795250001770176,-1.5707745912843571,-0.41474196485335185,0.002932952443841546,0.00015594203926022013,0.003192934656734998,-0.0034283211254259914,0.0029330983293303524,0.00015660857550106299,0.003200667059291818,-0.0034363274410891256,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-7.05496972857042e-17,-2.436947059172611e-17,-1.39155806565795e-07],"qvel":[-0.00029155846695909734,0.03598353422061921,-0.24983649750058456,0.21059418715713094,5.013147703586543e-07,1.7804071304238836e-06,-0.00011977423256136843,-4.507250911138668e-05,-2.1874235531480507e-05,0.00025796928986294396,-9.62373069196729e-05,1.3545246276142745e-05,0.00024543172789209816,0.00026741463579931185,5.252860906304466e-17,-1.1072431573910139e-16,5.6865843872203076e-15,2.733628593945763e-16,-2.537010033576647e-15,-6.103793017099367e-08],"joint_position_rad":[-1.985529643824541,-1.598152144093547,1.4067097124348455,-1.3795250001770176,-1.5707745912843571,-0.41474196485335185],"joint_velocity_rad_s":[-0.00029155846695909734,0.03598353422061921,-0.24983649750058456,0.21059418715713094,5.013147703586543e-07,1.7804071304238836e-06],"linkage_position_rad":[0.002932952443841546,0.00015594203926022013,0.003192934656734998,-0.0034283211254259914,0.0029330983293303524,0.00015660857550106299,0.003200667059291818,-0.0034363274410891256],"tcp_position_m":[0.06805206265490249,0.48713349035038445,0.40664596924715957],"tcp_quaternion_wxyz":[-4.111949741140694e-05,0.7071037204256126,0.707109836675261,7.580586234807546e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-7.05496972857042e-17,-2.436947059172611e-17,-1.39155806565795e-07],"object_linear_velocity_m_s":[5.252860906304466e-17,-1.1072431573910139e-16,5.6865843872203076e-15],"object_angular_velocity_rad_s":[2.733621562901341e-16,-2.5370101182690267e-15,-6.103793017099376e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485901659699,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855335195713715,-1.6005393521478888,1.3471048765629516,-1.3424697045377008,-1.5707717825978047,-0.41474163274887604,0.0],"actuator_force":[0.10887189312234113,-19.167829796931528,-19.27507274355412,-2.531770896054809,0.0013542117992528802,-1.198847513705914e-05,-0.2922224809611897],"issued_joint_targets_rad":[-1.9855378396802772,-1.5898320130961454,1.3519995819586068,-1.333220120947304,-1.5707729008037519,-0.4147415102229015],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.179999999999243,"joint_targets_rad":[-1.9855378396802772,-1.5898320130961454,1.3519995819586068,-1.333220120947304,-1.5707729008037519,-0.4147415102229015],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.199999999999232,"qpos":[-1.9855295832415616,-1.5973620016161605,1.4015231249030684,-1.3751268238050744,-1.5707744041592004,-0.41474192227200946,0.002932951782631504,0.00015594122061782077,0.0031929435620922683,-0.0034283185469609384,0.0029330978829422653,0.0001566104796774003,0.0032006857566026746,-0.0034363228164323617,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-5.277697284591294e-17,-3.532033820976392e-17,-1.3943975141746533e-07],"qvel":[-0.00029452427051863516,0.03690612492992994,-0.25092115408405175,0.2107558396440917,6.356506531372399e-07,2.1737133228721825e-06,-0.00011979014519491138,-4.51372038126573e-05,-2.0420665547369157e-05,0.00025841117930613765,-9.618596457124607e-05,1.378209731011984e-05,0.0002478919238381657,0.0002678167996762739,2.4320069647356097e-16,-1.581263846180387e-16,5.547806509142163e-15,-4.528077216118801e-15,-1.695703903988097e-14,-1.1143984649515354e-07],"joint_position_rad":[-1.9855295832415616,-1.5973620016161605,1.4015231249030684,-1.3751268238050744,-1.5707744041592004,-0.41474192227200946],"joint_velocity_rad_s":[-0.00029452427051863516,0.03690612492992994,-0.25092115408405175,0.2107558396440917,6.356506531372399e-07,2.1737133228721825e-06],"linkage_position_rad":[0.002932951782631504,0.00015594122061782077,0.0031929435620922683,-0.0034283185469609384,0.0029330978829422653,0.0001566104796774003,0.0032006857566026746,-0.0034363228164323617],"tcp_position_m":[0.06805344237494067,0.4871368140990873,0.40834604355327664],"tcp_quaternion_wxyz":[-4.08931412665192e-05,0.7071037141134753,0.7071098430901046,7.496509855292398e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-5.277697284591294e-17,-3.532033820976392e-17,-1.3943975141746533e-07],"object_linear_velocity_m_s":[2.4320069647356097e-16,-1.581263846180387e-16,5.547806509142163e-15],"object_angular_velocity_rad_s":[-4.528081937217066e-15,-1.6957037788855334e-14,-1.1143984649515374e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485657554231,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533396246871,-1.5995769722027955,1.3417100300079299,-1.3380393450388852,-1.5707715813361522,-0.41474151225257605,0.0],"actuator_force":[0.11018369758858171,-19.1923911452418,-19.257728156656412,-2.531844581314431,0.0013478464588843053,-1.2361615603140308e-05,-0.2922226027298577],"issued_joint_targets_rad":[-1.9855376952885857,-1.588840451032668,1.3465717554466143,-1.3287850820889697,-1.5707726973417635,-0.41474136598765776],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.199999999999232,"joint_targets_rad":[-1.9855376952885857,-1.588840451032668,1.3465717554466143,-1.3287850820889697,-1.5707726973417635,-0.41474136598765776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.21999999999922,"qpos":[-1.9855295108171438,-1.5965526537719692,1.3963138762339211,-1.370725172107153,-1.5707742152563395,-0.4147418700603972,0.002932951111661915,0.00015594039152458467,0.003192952535266602,-0.0034283159453240833,0.002933097427468526,0.0001566124008477608,0.0032007046270064177,-0.003436318128986434,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-5.298210900213204e-17,-7.859691158946593e-17,-1.3986246930017717e-07],"qvel":[-0.0002974478670366065,0.03783453000916925,-0.2520180907832477,0.21092388382680533,7.76945044992184e-07,2.6382531119818785e-06,-0.00011980731883803238,-4.5203342940353436e-05,-1.894616273540896e-05,0.00025886239349308203,-9.613475001046983e-05,1.4022658774197117e-05,0.00025038924153879667,0.00026822606799489833,9.025691107075848e-17,-6.712542804809768e-17,5.436784206679646e-15,2.149627698751829e-15,1.5275739628821275e-15,-1.2073594768187912e-08],"joint_position_rad":[-1.9855295108171438,-1.5965526537719692,1.3963138762339211,-1.370725172107153,-1.5707742152563395,-0.4147418700603972],"joint_velocity_rad_s":[-0.0002974478670366065,0.03783453000916925,-0.2520180907832477,0.21092388382680533,7.76945044992184e-07,2.6382531119818785e-06],"linkage_position_rad":[0.002932951111661915,0.00015594039152458467,0.003192952535266602,-0.0034283159453240833,0.002933097427468526,0.0001566124008477608,0.0032007046270064177,-0.003436318128986434],"tcp_position_m":[0.06805500132805026,0.4871405599832585,0.41004591416495845],"tcp_quaternion_wxyz":[-4.066407252812162e-05,0.7071037070197436,0.7071098502866092,7.41148986888097e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-5.298210900213204e-17,-7.859691158946593e-17,-1.3986246930017717e-07],"object_linear_velocity_m_s":[9.025691107075848e-17,-6.712542804809768e-17,5.436784206679646e-15],"object_angular_velocity_rad_s":[2.1496281279501762e-15,1.5275733602982252e-15,-1.2073594768187933e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485411237107,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985533248962648,-1.5985944709431457,1.3362902561134435,-1.3336042403611,-1.5707713772682197,-0.41474136802089245,0.0],"actuator_force":[0.11150285580606578,-19.217446346020097,-19.240003927655835,-2.5319225096540094,0.0013412995554062945,-1.2805558839090736e-05,-0.2922227166122795],"issued_joint_targets_rad":[-1.9855375235453132,-1.5878283000212987,1.3411184200013255,-1.3243451448072792,-1.5707724909367995,-0.4147411944397852],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.21999999999922,"joint_targets_rad":[-1.9855375235453132,-1.5878283000212987,1.3411184200013255,-1.3243451448072792,-1.5707724909367995,-0.4147411944397852],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.23999999999921,"qpos":[-1.9855294245042117,-1.595723970701243,1.3910817003265041,-1.3663199104245163,-1.57077402446571,-0.41474180654041104,0.0029329504285352526,0.0001559395516119082,0.0031929615706505795,-0.0034283133207725523,0.0029330969602539025,0.00015661433903753005,0.0032007236687217576,-0.003436313373461162,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-4.9880595950347746e-17,-9.928604781353213e-17,-1.403420732495581e-07],"qvel":[-0.000300323112930569,0.03876932815296467,-0.25312797512314994,0.21109841633833887,9.256349303021179e-07,3.183616575450856e-06,-0.00011982587955559108,-4.52710348012103e-05,-1.7449126857366444e-05,0.00025932389942011743,-9.608370252168889e-05,1.4267151374274356e-05,0.00025292602739698854,0.000268642836537192,1.2354105393731085e-16,-6.357545705714654e-17,5.418743082529487e-15,1.4368375581867842e-15,1.7268784019281499e-15,-2.204333508430305e-08],"joint_position_rad":[-1.9855294245042117,-1.595723970701243,1.3910817003265041,-1.3663199104245163,-1.57077402446571,-0.41474180654041104],"joint_velocity_rad_s":[-0.000300323112930569,0.03876932815296467,-0.25312797512314994,0.21109841633833887,9.256349303021179e-07,3.183616575450856e-06],"linkage_position_rad":[0.0029329504285352526,0.0001559395516119082,0.0031929615706505795,-0.0034283133207725523,0.0029330969602539025,0.00015661433903753005,0.0032007236687217576,-0.003436313373461162],"tcp_position_m":[0.06805675221361016,0.48714475932223916,0.4117455788356042],"tcp_quaternion_wxyz":[-4.0432629201683596e-05,0.7071036990138939,0.707109858395166,7.325598023772747e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-4.9880595950347746e-17,-9.928604781353213e-17,-1.403420732495581e-07],"object_linear_velocity_m_s":[1.2354105393731085e-16,-6.357545705714654e-17,5.418743082529487e-15],"object_angular_velocity_rad_s":[1.4368380472713116e-15,1.7268779964314916e-15,-2.2043335084303093e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313485162749191,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855330741322357,-1.597591606976455,1.3308451568110797,-1.3291642362484386,-1.570771170251716,-0.41474119647669533,0.0],"actuator_force":[0.1128299891242932,-19.243003811609924,-19.221896981588998,-2.532004545794962,0.0013345435039582298,-1.332979968537984e-05,-0.29222282152907136],"issued_joint_targets_rad":[-1.9855373202823292,-1.5867952820812,1.3356391406277557,-1.3199001529645875,-1.5707722814268852,-0.4147409914168277],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.23999999999921,"joint_targets_rad":[-1.9855373202823292,-1.5867952820812,1.3356391406277557,-1.3199001529645875,-1.5707722814268852,-0.4147409914168277],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.259999999999199,"qpos":[-1.9855293219441423,-1.5948758088503336,1.3858263154567283,-1.3619109019961715,-1.5707738316727293,-0.41474172979856827,0.0029329497308566354,0.00015593870046738155,0.003192970661116835,-0.003428310674424585,0.0029330964785570387,0.00015661629413960863,0.0032007428788827174,-0.0034363085439203973,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999911,-4.633171322731811e-17,-9.992315213496458e-17,-1.4075392564002372e-07],"qvel":[-0.0003031426946871006,0.03971120306337907,-0.2542515793956298,0.21127953229410334,1.082305502770508e-06,3.821160875114578e-06,-0.00011984599384190858,-4.534041220543678e-05,-1.5927597551565787e-05,0.0002597969154042892,-9.603288140146624e-05,1.4515840925932149e-05,0.0002555051255198175,0.00026906759350012237,1.4397172628134468e-16,-7.214934297663509e-17,5.407640852283234e-15,4.4158008987266346e-16,3.050851406615175e-16,-4.024556322853838e-08],"joint_position_rad":[-1.9855293219441423,-1.5948758088503336,1.3858263154567283,-1.3619109019961715,-1.5707738316727293,-0.41474172979856827],"joint_velocity_rad_s":[-0.0003031426946871006,0.03971120306337907,-0.2542515793956298,0.21127953229410334,1.082305502770508e-06,3.821160875114578e-06],"linkage_position_rad":[0.0029329497308566354,0.00015593870046738155,0.003192970661116835,-0.003428310674424585,0.0029330964785570387,0.00015661629413960863,0.0032007428788827174,-0.0034363085439203973],"tcp_position_m":[0.06805870952885597,0.48714944788790987,0.41344503520212134],"tcp_quaternion_wxyz":[-4.019912008121456e-05,0.7071036899384813,0.7071098675731022,7.238897923517061e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999911,-4.633171322731811e-17,-9.992315213496458e-17,-1.4075392564002372e-07],"object_linear_velocity_m_s":[1.4397172628134468e-16,-7.214934297663509e-17,5.407640852283234e-15],"object_angular_velocity_rad_s":[4.415801837994359e-16,3.050850126239508e-16,-4.024556322853846e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484912152768,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855328675829493,-1.5965681047892102,1.3253742976796423,-1.3247191765344035,-1.570770960124355,-0.41474099345752863,0.0],"actuator_force":[0.11416580026070733,-19.269073103104347,-19.203403795920167,-2.5320904985262587,0.0013275436369895033,-1.3945567701512118e-05,-0.2922229160944668],"issued_joint_targets_rad":[-1.98553708060403,-1.5857410756523744,1.3301334368853615,-1.3154499486759608,-1.5707720686242315,-0.4147407520299775],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.259999999999199,"joint_targets_rad":[-1.98553708060403,-1.5857410756523744,1.3301334368853615,-1.3154499486759608,-1.5707720686242315,-0.4147407520299775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.279999999999188,"qpos":[-1.9855292003923708,-1.5940080082595816,1.3805474215527578,-1.3574980079689372,-1.5707736367563685,-0.4147416376396117,0.002932949016115878,0.00015593783762373324,0.0031929797972300514,-0.0034283080085197692,0.0029330959793958324,0.00015661826585002935,0.0032007622528740253,-0.003436303633431246,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-4.343549859212024e-17,-1.0915693181738846e-16,-1.4112506069208372e-07],"qvel":[-0.00030589783826096527,0.04066097630063131,-0.2553898127055361,0.21146732435592172,1.2477353371742392e-06,4.5644880463615485e-06,-0.00011986788255465789,-4.5411641433260323e-05,-1.4379122527501738e-05,0.0002602830036865171,-9.598237240143524e-05,1.4769054496445399e-05,0.00025813005795636743,0.00026950095188583024,2.414177544476498e-16,-8.697745941561582e-17,5.611644333058106e-15,-1.8951312598944487e-15,-7.949804499035893e-15,-7.347823518482112e-08],"joint_position_rad":[-1.9855292003923708,-1.5940080082595816,1.3805474215527578,-1.3574980079689372,-1.5707736367563685,-0.4147416376396117],"joint_velocity_rad_s":[-0.00030589783826096527,0.04066097630063131,-0.2553898127055361,0.21146732435592172,1.2477353371742392e-06,4.5644880463615485e-06],"linkage_position_rad":[0.002932949016115878,0.00015593783762373324,0.0031929797972300514,-0.0034283080085197692,0.0029330959793958324,0.00015661826585002935,0.0032007622528740253,-0.003436303633431246],"tcp_position_m":[0.06806088999174255,0.4871546669538291,0.4151442807692542],"tcp_quaternion_wxyz":[-3.996382973148272e-05,0.7071036795992376,0.7071098780145786,7.151446042028175e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-4.343549859212024e-17,-1.0915693181738846e-16,-1.4112506069208372e-07],"object_linear_velocity_m_s":[2.414177544476498e-16,-8.697745941561582e-17,5.611644333058106e-15],"object_angular_velocity_rad_s":[-1.8951334876863414e-15,-7.949803970517677e-15,-7.34782351848211e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484659542706,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855326244146645,-1.5955236456022148,1.3198771988816949,-1.3202689033010622,-1.57077074669803,-0.4147407540745849,0.0],"actuator_force":[0.11551109071706378,-19.29566520551907,-19.18452025991155,-2.532180101654717,0.0013202556355054185,-1.4666291235698736e-05,-0.292222998500805],"issued_joint_targets_rad":[-1.9855367987007095,-1.5846653026934312,1.3246007702142424,-1.3109943725747153,-1.5707718523069725,-0.41474047047777535],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.279999999999188,"joint_targets_rad":[-1.9855367987007095,-1.5846653026934312,1.3246007702142424,-1.3109943725747153,-1.5707718523069725,-0.41474047047777535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.299999999999176,"qpos":[-1.9855290566182575,-1.5931203889390007,1.3752446965690621,-1.3530810874211465,-1.5707734395866415,-0.41474152752691856,0.0029329482815463426,0.00015593696254327064,0.003192988966066509,-0.0034283053268454556,0.002933095459349987,0.00015662025356725785,0.003200781783327229,-0.003436298633572104,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-3.777778855451055e-17,-1.0344440039003816e-16,-1.41403781140645e-07],"qvel":[-0.00030857793038909816,0.04161965423277807,-0.2565437667126149,0.2116618812493372,1.4229633728836786e-06,5.430084719960429e-06,-0.00011989184219010099,-4.5484935585101965e-05,-1.2800560171269482e-05,0.00026078420916412836,-9.593229780238028e-05,1.5027204347470569e-05,0.00026080529400675885,0.0002699436995661828,1.2530168253209984e-16,-4.536240569190001e-17,6.212552545136471e-15,1.4968125232896284e-15,4.1122975308125116e-15,-7.96076505670436e-09],"joint_position_rad":[-1.9855290566182575,-1.5931203889390007,1.3752446965690621,-1.3530810874211465,-1.5707734395866415,-0.41474152752691856],"joint_velocity_rad_s":[-0.00030857793038909816,0.04161965423277807,-0.2565437667126149,0.2116618812493372,1.4229633728836786e-06,5.430084719960429e-06],"linkage_position_rad":[0.0029329482815463426,0.00015593696254327064,0.003192988966066509,-0.0034283053268454556,0.002933095459349987,0.00015662025356725785,0.003200781783327229,-0.003436298633572104],"tcp_position_m":[0.06806331310793028,0.4871604647023432,0.4168433128904752],"tcp_quaternion_wxyz":[-3.9727024250732906e-05,0.7071036677507376,0.7071098899649235,7.063292858551183e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-3.777778855451055e-17,-1.0344440039003816e-16,-1.41403781140645e-07],"object_linear_velocity_m_s":[1.2530168253209984e-16,-4.536240569190001e-17,6.212552545136471e-15],"object_angular_velocity_rad_s":[1.4968136879254018e-15,4.112297106900966e-15,-7.96076505670436e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313484405063562,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855323388132478,-1.5944578545410772,1.3143533224924306,-1.315813257143628,-1.570770529750548,-0.41474047252640517,0.0],"actuator_force":[0.11686678217483859,-19.322792897264662,-19.16524146821712,-2.532272986174462,0.00131262170930313,-1.550821528439883e-05,-0.29222306634485407],"issued_joint_targets_rad":[-1.9855364675984937,-1.5835675100694826,1.319040525704209,-1.3065332642477403,-1.5707716322070866,-0.4147401397964691],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.299999999999176,"joint_targets_rad":[-1.9855364675984937,-1.5835675100694826,1.319040525704209,-1.3065332642477403,-1.5707716322070866,-0.4147401397964691],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.319999999999165,"qpos":[-1.9855288867670395,-1.5922127459080062,1.3699177915406486,-1.3486599974087292,-1.5707732400212129,-0.41474139650499425,0.0029329475239430708,0.00015593607459689777,0.0031929981493763336,-0.0034283026354514764,0.0029330949142898385,0.00015662225622838612,0.0032008014585284913,-0.00343629353371043,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-6.569290014929226e-17,-9.448656807798802e-17,-1.4185619422369376e-07],"qvel":[-0.0003111700231917655,0.042588497062232146,-0.25771478282032917,0.21186328540609878,1.6093909575964784e-06,6.438191146484932e-06,-0.00011991827809187304,-4.55605753201142e-05,-1.1187776847148505e-05,0.00026130327396927386,-9.588283236827413e-05,1.5290824885246752e-05,0.00026353666288584255,0.0002703968752093224,1.196696655329367e-16,-7.950727271793189e-17,6.33467707784524e-15,1.2553784677197729e-15,3.7400598046863855e-15,-1.453434664998997e-08],"joint_position_rad":[-1.9855288867670395,-1.5922127459080062,1.3699177915406486,-1.3486599974087292,-1.5707732400212129,-0.41474139650499425],"joint_velocity_rad_s":[-0.0003111700231917655,0.042588497062232146,-0.25771478282032917,0.21186328540609878,1.6093909575964784e-06,6.438191146484932e-06],"linkage_position_rad":[0.0029329475239430708,0.00015593607459689777,0.0031929981493763336,-0.0034283026354514764,0.0029330949142898385,0.00015662225622838612,0.0032008014585284913,-0.00343629353371043],"tcp_position_m":[0.06806600194904024,0.48716689815669206,0.4185421287446587],"tcp_quaternion_wxyz":[-3.9488958577408075e-05,0.7071036540749928,0.707109903742036,6.974484267510835e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-6.569290014929226e-17,-9.448656807798802e-17,-1.4185619422369376e-07],"object_linear_velocity_m_s":[1.196696655329367e-16,-7.950727271793189e-17,6.33467707784524e-15],"object_angular_velocity_rad_s":[1.2553795315676236e-15,3.740059446610204e-15,-1.4534346649989973e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931348414893675,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855320038005853,-1.5933702821234785,1.3088020542724579,-1.3113520776043668,-1.5707703090135465,-0.41474014184923774,0.0],"actuator_force":[0.11823394218527028,-19.350471255837874,-19.145561408249705,-2.532368638428693,0.0013045647374383407,-1.6491236380034024e-05,-0.2922231163593447],"issued_joint_targets_rad":[-1.9855344090317915,-1.583274322130859,1.3182751066044645,-1.3060397731187339,-1.5707735259563358,-0.41473808609272755],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.319999999999165,"joint_targets_rad":[-1.9855344090317915,-1.583274322130859,1.3182751066044645,-1.3060397731187339,-1.5707735259563358,-0.41473808609272755],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.339999999999154,"qpos":[-1.9855315906224122,-1.5913853092026329,1.3649549454278727,-1.3445927648542122,-1.5707733755994617,-0.41474108780469504,0.0029309218851367932,0.00015564360467400917,0.0031917536724869995,-0.0034251108876258624,0.0029311851425495032,0.0001565598053035264,0.003200734546257781,-0.0034330326575221825,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-8.186507304086505e-17,-9.619985231558216e-17,-1.4230831671978627e-07],"qvel":[-0.00014882301652488947,0.03934850626351158,-0.2367372292784894,0.19376437726829351,-2.8356871324930292e-06,1.5182852113333937e-05,-0.0001051271765757798,-5.891860874190543e-06,-7.795840988274367e-05,0.00012982443452937115,-0.00010355238125288668,-2.1712603748517123e-06,-5.7766084355098294e-05,0.0001333396156345611,1.2921879468350846e-16,-1.0705300695970076e-16,6.37075932614556e-15,6.776868252566275e-16,1.664699886179587e-15,-2.6536046603229576e-08],"joint_position_rad":[-1.9855315906224122,-1.5913853092026329,1.3649549454278727,-1.3445927648542122,-1.5707733755994617,-0.41474108780469504],"joint_velocity_rad_s":[-0.00014882301652488947,0.03934850626351158,-0.2367372292784894,0.19376437726829351,-2.8356871324930292e-06,1.5182852113333937e-05],"linkage_position_rad":[0.0029309218851367932,0.00015564360467400917,0.0031917536724869995,-0.0034251108876258624,0.0029311851425495032,0.0001565598053035264,0.003200734546257781,-0.0034330326575221825],"tcp_position_m":[0.06807071772938109,0.4871743472445335,0.42013678383762404],"tcp_quaternion_wxyz":[-5.1773563306602136e-05,0.7071047165833192,0.7071088365974266,0.00010154287474775922],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-8.186507304086505e-17,-9.619985231558216e-17,-1.4230831671978627e-07],"object_linear_velocity_m_s":[1.2921879468350846e-16,-1.0705300695970076e-16,6.37075932614556e-15],"object_angular_velocity_rad_s":[6.776873041634045e-16,1.664699688953826e-15,-2.6536046603229583e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313471865233884,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985530649723175,-1.5930837046658695,1.3080446977140923,-1.3108601020445698,-1.5707722031219236,-0.4147380877020867,0.0],"actuator_force":[0.061411005084664794,-19.136193431877473,-19.125603716164733,-2.5101063220081414,0.0008698074823314528,-1.8233907184139753e-05,-0.2920619535951715],"issued_joint_targets_rad":[-1.985532319728057,-1.5830936160092361,1.3180372778959308,-1.305960754497047,-1.5707755007587187,-0.4147360021861988],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.339999999999154,"joint_targets_rad":[-1.985532319728057,-1.5830936160092361,1.3180372778959308,-1.305960754497047,-1.5707755007587187,-0.4147360021861988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.359999999999143,"qpos":[-1.9855330473589559,-1.590623607870404,1.3604406168857917,-1.3409068835773572,-1.570773603677194,-0.4147406099314685,0.002929162240707714,0.00015565824722860738,0.003190099486704511,-0.0034234042223528884,0.002929405818081249,0.0001565140668602172,0.003198861179383369,-0.0034312788827484783,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.0638120625543771e-16,-9.976489002048213e-17,-1.4274216277077108e-07],"qvel":[-9.645868923752452e-05,0.036461656080396865,-0.2150896590709535,0.1756182778015007,-9.160044310105085e-06,2.3269203312638528e-05,-7.767233551559003e-05,1.8505902789024818e-06,-7.102009340430352e-05,7.254152295846863e-05,-7.835495432457779e-05,-3.5942221572147864e-07,-8.46075920367821e-05,6.810850332992312e-05,1.5622412008109273e-16,-1.7433876937811629e-16,6.462352725677136e-15,-3.1729266264835203e-15,-8.247156028569939e-16,-4.844811991113835e-08],"joint_position_rad":[-1.9855330473589559,-1.590623607870404,1.3604406168857917,-1.3409068835773572,-1.570773603677194,-0.4147406099314685],"joint_velocity_rad_s":[-9.645868923752452e-05,0.036461656080396865,-0.2150896590709535,0.1756182778015007,-9.160044310105085e-06,2.3269203312638528e-05],"linkage_position_rad":[0.002929162240707714,0.00015565824722860738,0.003190099486704511,-0.0034234042223528884,0.002929405818081249,0.0001565140668602172,0.003198861179383369,-0.0034312788827484783],"tcp_position_m":[0.06807462103028981,0.4871813569903235,0.4215828615924714],"tcp_quaternion_wxyz":[-6.375591617073653e-05,0.7071053972449428,0.7071081498012972,0.0001326907717246487],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.0638120625543771e-16,-9.976489002048213e-17,-1.4274216277077108e-07],"object_linear_velocity_m_s":[1.5622412008109273e-16,-1.7433876937811629e-16,6.462352725677136e-15],"object_angular_velocity_rad_s":[-3.1729268522599286e-15,-8.247147073440828e-16,-4.844811991113837e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313487663965649,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855292431393952,-1.592908923684536,1.3078143115919003,-1.3107825601256395,-1.5707741785699878,-0.4147360033658927,0.0],"actuator_force":[0.04619191481606322,-19.155294060422875,-19.216746959401007,-2.4996660542913105,0.0006285580341227615,-2.3637543364429803e-05,-0.29214826649024733],"issued_joint_targets_rad":[-1.9855303962748785,-1.5829430923479457,1.3178375193238132,-1.3058915162439315,-1.570777319452926,-0.4147340832906487],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.359999999999143,"joint_targets_rad":[-1.9855303962748785,-1.5829430923479457,1.3178375193238132,-1.3058915162439315,-1.570777319452926,-0.4147340832906487],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.379999999999132,"qpos":[-1.9855339916332935,-1.5899177360640435,1.3563412271937407,-1.337566206473132,-1.5707739612667226,-0.4147399933532688,0.002927915371250069,0.00015571825498401361,0.0031887986298076267,-0.0034223740718605017,0.0029281346099809514,0.00015649501743773077,0.003197168438440455,-0.0034303059561900735,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.1115953554156024e-16,-9.175301925239892e-17,-1.4306598929792968e-07],"qvel":[-7.349342978624481e-05,0.03380752768821465,-0.19530277374897786,0.1591788768733789,-1.6308280931728544e-05,2.9845135688823048e-05,-5.3628068216969415e-05,2.1408229582128157e-06,-5.0787769984883647e-05,4.80995098420112e-05,-5.415003086072698e-05,-1.0186511214851308e-08,-6.52911188844813e-05,4.201037951392955e-05,2.137732343345793e-16,-2.688324124953766e-16,6.538680558620118e-15,-1.0063835850426877e-14,-6.013251186943405e-15,-8.845403228370797e-08],"joint_position_rad":[-1.9855339916332935,-1.5899177360640435,1.3563412271937407,-1.337566206473132,-1.5707739612667226,-0.4147399933532688],"joint_velocity_rad_s":[-7.349342978624481e-05,0.03380752768821465,-0.19530277374897786,0.1591788768733789,-1.6308280931728544e-05,2.9845135688823048e-05],"linkage_position_rad":[0.002927915371250069,0.00015571825498401361,0.0031887986298076267,-0.0034223740718605017,0.0029281346099809514,0.00015649501743773077,0.003197168438440455,-0.0034303059561900735],"tcp_position_m":[0.06807828781447212,0.4871883492153703,0.42288864735653736],"tcp_quaternion_wxyz":[-7.31595016321286e-05,0.7071059459127417,0.7071075951604086,0.00015738169482410318],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.1115953554156024e-16,-9.175301925239892e-17,-1.4306598929792968e-07],"object_linear_velocity_m_s":[2.137732343345793e-16,-2.688324124953766e-16,6.538680558620118e-15],"object_angular_velocity_rad_s":[-1.0063837554778083e-14,-6.013248327022918e-15,-8.845403228370801e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931350435237151,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855278836409143,-1.5927641957559264,1.3076214280563616,-1.3107145419868187,-1.570775998341748,-0.4147340841182994,0.0],"actuator_force":[0.04161335667276944,-19.215930459051833,-19.318488775167225,-2.492055444181119,0.0006122905805341361,-2.9896084186020744e-05,-0.29226360856616257],"issued_joint_targets_rad":[-1.9855286281276903,-1.5828179572500876,1.3176700292671506,-1.305830898603849,-1.5707789917320176,-0.4147323188071152],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.379999999999132,"joint_targets_rad":[-1.9855286281276903,-1.5828179572500876,1.3176700292671506,-1.305830898603849,-1.5707789917320176,-0.4147323188071152],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.399999999999121,"qpos":[-1.9855346607719806,-1.5892643143549614,1.3526202951860014,-1.334538470512082,-1.5707744422883163,-0.41473926602016054,0.002927090063919932,0.00015577502195076958,0.003187901469045054,-0.003421735635155667,0.0029272885626129147,0.00015647987141257573,0.0031959017337403572,-0.0034297369218553404,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.129823643296599e-16,-8.495591179158591e-17,-1.4340151651211971e-07],"qvel":[-5.5736164276424044e-05,0.03128624373361467,-0.1772688723002345,0.14427044266995642,-2.2419541843330752e-05,3.5084845133073365e-05,-3.450740066362231e-05,2.0137582656935643e-06,-3.2896822916572496e-05,2.9780830424930392e-05,-3.500045812254547e-05,-5.301804618618643e-08,-4.6492305892446574e-05,2.4329542175397233e-05,1.0471354909139396e-16,-1.3409343584874748e-16,6.605293940097628e-15,4.15276246314016e-15,3.424014432652999e-15,-9.583270033058955e-09],"joint_position_rad":[-1.9855346607719806,-1.5892643143549614,1.3526202951860014,-1.334538470512082,-1.5707744422883163,-0.41473926602016054],"joint_velocity_rad_s":[-5.5736164276424044e-05,0.03128624373361467,-0.1772688723002345,0.14427044266995642,-2.2419541843330752e-05,3.5084845133073365e-05],"linkage_position_rad":[0.002927090063919932,0.00015577502195076958,0.003187901469045054,-0.003421735635155667,0.0029272885626129147,0.00015647987141257573,0.0031959017337403572,-0.0034297369218553404],"tcp_position_m":[0.06808183472163624,0.4871953139580364,0.4240672297568109],"tcp_quaternion_wxyz":[-8.013905972058212e-05,0.7071064369425896,0.7071070989844316,0.00017600541810112755],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.129823643296599e-16,-8.495591179158591e-17,-1.4340151651211971e-07],"object_linear_velocity_m_s":[1.0471354909139396e-16,-1.3409343584874748e-16,6.605293940097628e-15],"object_angular_velocity_rad_s":[4.152763446786027e-15,3.4240132394625092e-15,-9.583270033058962e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313517260218591,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855265766213677,-1.5926447080177533,1.307460272053702,-1.3106549178051607,-1.5707776721209534,-0.4147323193511474,0.0],"actuator_force":[0.038462766936390835,-19.27528481902982,-19.412497344505027,-2.48526791353504,0.0006270378657973197,-3.5150006738149386e-05,-0.2923713920327115],"issued_joint_targets_rad":[-1.9855270050709262,-1.5827138346302794,1.3175294942795786,-1.3057778240586826,-1.5707805271114563,-0.4147306986120926],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.399999999999121,"joint_targets_rad":[-1.9855270050709262,-1.5827138346302794,1.3175294942795786,-1.3057778240586826,-1.5707805271114563,-0.4147306986120926],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.41999999999911,"qpos":[-1.9855350972122927,-1.5886606102890266,1.3492440023915457,-1.3317945222339638,-1.5707750242527692,-0.4147384524082904,0.0029265942868914926,0.00015582654232654323,0.003187334771274844,-0.0034213971932856345,0.0029267740577745382,0.00015646589155425715,0.0031949977501497914,-0.0034294625394470962,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.1585618487338479e-16,-7.923926811341504e-17,-1.438853180037794e-07],"qvel":[-4.0166145545808215e-05,0.028895554466077573,-0.16084826138844927,0.13074990057102207,-2.733889411541674e-05,3.916002205133918e-05,-1.9709837417730083e-05,1.857566105549183e-06,-1.886313904805241e-05,1.5699403720461003e-05,-2.018620406979603e-05,-1.084342603198067e-07,-3.142824933650932e-05,1.0943359914559385e-05,9.961218045269521e-17,-1.4449282263199718e-16,6.631661736932476e-15,3.6596569272384896e-15,2.9546192642559432e-15,-1.7496631003276713e-08],"joint_position_rad":[-1.9855350972122927,-1.5886606102890266,1.3492440023915457,-1.3317945222339638,-1.5707750242527692,-0.4147384524082904],"joint_velocity_rad_s":[-4.0166145545808215e-05,0.028895554466077573,-0.16084826138844927,0.13074990057102207,-2.733889411541674e-05,3.916002205133918e-05],"linkage_position_rad":[0.0029265942868914926,0.00015582654232654323,0.003187334771274844,-0.0034213971932856345,0.0029267740577745382,0.00015646589155425715,0.0031949977501497914,-0.0034294625394470962],"tcp_position_m":[0.06808524148016294,0.4872021696184572,0.42513096723921073],"tcp_quaternion_wxyz":[-8.505509062232531e-05,0.707106876809301,0.7071066550670373,0.00018945852451342305],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.1585618487338479e-16,-7.923926811341504e-17,-1.438853180037794e-07],"object_linear_velocity_m_s":[9.961218045269521e-17,-1.4449282263199718e-16,6.631661736932476e-15],"object_angular_velocity_rad_s":[3.659657780263845e-15,2.9546182070598355e-15,-1.7496631003276726e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313526763560755,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985525330134384,-1.5925460361031603,1.3073255610757581,-1.31060264737927,-1.5707792093485704,-0.41473069892930636,0.0],"actuator_force":[0.03560061403504733,-19.32907341469854,-19.497578076195623,-2.4790526297553015,0.0006413415107999754,-3.926271313048346e-05,-0.2924689370258639],"issued_joint_targets_rad":[-1.985525517154672,-1.5826270841195287,1.3174114475654684,-1.3057313362388665,-1.570781934907027,-0.4147292128575234],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.41999999999911,"joint_targets_rad":[-1.985525517154672,-1.5826270841195287,1.3174114475654684,-1.3057313362388665,-1.570781934907027,-0.4147292128575234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.439999999999099,"qpos":[-1.9855353228657369,-1.5881038484525618,1.3461813227192685,-1.3293079139349453,-1.5707756854212096,-0.4147375737236676,0.0029263512396507175,0.00015587299946361404,0.0031870239676916384,-0.003421286224763218,0.002926514033143523,0.00015645279387652912,0.0031943803683864326,-0.003429409887100998,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.451574340714462e-16,-5.962035642477675e-17,-1.4430887699052043e-07],"qvel":[-2.639291103314553e-05,0.026640177752270035,-0.14590635294682758,0.11848900911542326,-3.119271594605258e-05,4.222722882194723e-05,-8.416303552660522e-06,1.7045212508889477e-06,-8.137109813826657e-06,5.0218117812152525e-06,-8.87266907825572e-06,-1.5282722089365105e-07,-1.971397132271779e-05,8.675477385054178e-07,8.035960944016197e-17,-2.0924527716838443e-16,6.681621773040609e-15,-4.2381232821293857e-16,2.190889842361691e-15,-3.194442976236309e-08],"joint_position_rad":[-1.9855353228657369,-1.5881038484525618,1.3461813227192685,-1.3293079139349453,-1.5707756854212096,-0.4147375737236676],"joint_velocity_rad_s":[-2.639291103314553e-05,0.026640177752270035,-0.14590635294682758,0.11848900911542326,-3.119271594605258e-05,4.222722882194723e-05],"linkage_position_rad":[0.0029263512396507175,0.00015587299946361404,0.0031870239676916384,-0.003421286224763218,0.002926514033143523,0.00015645279387652912,0.0031943803683864326,-0.003429409887100998],"tcp_position_m":[0.0680884828032969,0.4872088468376421,0.42609106902367067],"tcp_quaternion_wxyz":[-8.824427095218844e-05,0.7071072657831872,0.7071062631999607,0.00019857734304646338],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.451574340714462e-16,-5.962035642477675e-17,-1.4430887699052043e-07],"object_linear_velocity_m_s":[8.035960944016197e-17,-2.0924527716838443e-16,6.681621773040609e-15],"object_angular_velocity_rad_s":[-4.238116920741405e-16,2.1908899554074202e-15,-3.1944429762363116e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533545639856,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985524149686459,-1.5924645028365776,1.30721286015186,-1.310556806831702,-1.5707806192670852,-0.41472921299466636,0.0],"actuator_force":[0.03290352296835408,-19.377379868939443,-19.574383956085967,-2.4733473599206945,0.0006523486567857617,-4.235838156319005e-05,-0.2925568187765575],"issued_joint_targets_rad":[-1.9855241547380809,-1.582554703418479,1.317312164861485,-1.305690592125963,-1.5707832241653805,-0.41472785199955986],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.439999999999099,"joint_targets_rad":[-1.9855241547380809,-1.582554703418479,1.317312164861485,-1.305690592125963,-1.5707832241653805,-0.41472785199955986],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.459999999999088,"qpos":[-1.9855353586430668,-1.5875912009645066,1.3434038589426058,-1.3270546428528187,-1.570776406777807,-0.4147366482246755,0.0029262993510025784,0.00015591485571482156,0.0031869079459857503,-0.003421345276803262,0.002926446754486986,0.00015644052910295713,0.003193985876266823,-0.0034295219449150993,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.5498163809891386e-16,-4.9840850774795424e-17,-1.4470470491345927e-07],"qvel":[-1.4302155986846713e-05,0.02452241566340426,-0.13231765466200954,0.10737144175991804,-3.412419790484356e-05,4.4426912557720746e-05,8.294225215244289e-08,1.5614365618544247e-06,-6.32397379834252e-08,-2.9617853164602255e-06,-3.5104317566688866e-07,-1.8429406554680624e-07,-1.0711978433138751e-05,-6.598514345311373e-06,8.655552316682979e-17,-2.663569799904477e-16,6.713540684998584e-15,-4.066118208011161e-15,-4.842072997452911e-16,-5.8322461772872085e-08],"joint_position_rad":[-1.9855353586430668,-1.5875912009645066,1.3434038589426058,-1.3270546428528187,-1.570776406777807,-0.4147366482246755],"joint_velocity_rad_s":[-1.4302155986846713e-05,0.02452241566340426,-0.13231765466200954,0.10737144175991804,-3.412419790484356e-05,4.4426912557720746e-05],"linkage_position_rad":[0.0029262993510025784,0.00015591485571482156,0.0031869079459857503,-0.003421345276803262,0.002926446754486986,0.00015644052910295713,0.003193985876266823,-0.0034295219449150993],"tcp_position_m":[0.06809154157106728,0.48721529425069166,0.42695765239968636],"tcp_quaternion_wxyz":[-8.99991909837974e-05,0.7071076047648744,0.7071059224272552,0.00020408852880233395],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.5498163809891386e-16,-4.9840850774795424e-17,-1.4470470491345927e-07],"object_linear_velocity_m_s":[8.655552316682979e-17,-2.663569799904477e-16,6.713540684998584e-15],"object_angular_velocity_rad_s":[-4.0661183423314644e-15,-4.842061410502226e-16,-5.832246177287214e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538193539424,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855230383109963,-1.5923970817855313,1.3071184767738488,-1.3105165804019692,-1.5707819108587633,-0.41472785199501544,0.0],"actuator_force":[0.030361526536125893,-19.42072790741122,-19.643702472710174,-2.468112950567047,0.0006603793123076684,-4.457642575061982e-05,-0.2926359647698606],"issued_joint_targets_rad":[-1.985522908559396,-1.5824942183846817,1.3172285452649266,-1.3056548523853504,-1.5707844035917917,-0.4147266068656808],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.459999999999088,"joint_targets_rad":[-1.985522908559396,-1.5824942183846817,1.3172285452649266,-1.3056548523853504,-1.5707844035917917,-0.4147266068656808],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.479999999999077,"qpos":[-1.9855352258064967,-1.587119839259099,1.3408856526456516,-1.325012926105773,-1.5707771719663353,-0.4147356915378183,0.0029263897030867582,0.00015595257372435484,0.0031869379648245466,-0.003421528976364102,0.002926523157248597,0.00015642908163607234,0.003193763033119913,-0.003429753802787234,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.4509654909627953e-16,-4.3006880054057756e-17,-1.4503198545653487e-07],"qvel":[-3.7929719256513265e-06,0.02254186013442112,-0.11996589238399641,0.09729151773540892,-3.6264025308516205e-05,4.588437640105192e-05,6.365938601336438e-06,1.4286190650067964e-06,5.906049090095227e-06,-8.813534616039754e-06,5.955828131022702e-06,-2.0497185510519524e-07,-3.875085722543444e-06,-1.2005139035547973e-05,1.0918083949133327e-16,-3.941808745539885e-16,6.759337384764371e-15,-1.3554567135711788e-14,-3.2645009795680816e-15,-1.0648208694135445e-07],"joint_position_rad":[-1.9855352258064967,-1.587119839259099,1.3408856526456516,-1.325012926105773,-1.5707771719663353,-0.4147356915378183],"joint_velocity_rad_s":[-3.7929719256513265e-06,0.02254186013442112,-0.11996589238399641,0.09729151773540892,-3.6264025308516205e-05,4.588437640105192e-05],"linkage_position_rad":[0.0029263897030867582,0.00015595257372435484,0.0031869379648245466,-0.003421528976364102,0.002926523157248597,0.00015642908163607234,0.003193763033119913,-0.003429753802787234],"tcp_position_m":[0.06809440833654581,0.48722147581704234,0.427739844098877],"tcp_quaternion_wxyz":[-9.057142395810889e-05,0.7071078956787789,0.7071056307052117,0.0002066168689847667],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.4509654909627953e-16,-4.3006880054057756e-17,-1.4503198545653487e-07],"object_linear_velocity_m_s":[1.0918083949133327e-16,-3.941808745539885e-16,6.759337384764371e-15],"object_angular_velocity_rad_s":[-1.355456807346643e-14,-3.2644970787767483e-15,-1.0648208694135457e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313541182446876,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855219970995654,-1.5923412848880083,1.3070393411988723,-1.3104812514946,-1.5707830927733542,-0.4147266067509073,0.0],"actuator_force":[0.02797460263263929,-19.45963531158668,-19.70626593995985,-2.463314467954433,0.0006659990214075151,-4.6044184585980474e-05,-0.29270725185042956],"issued_joint_targets_rad":[-1.9855217697880703,-1.5824435896436435,1.3171580079709795,-1.305623471145354,-1.5707854814972046,-0.4147254687059873],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.479999999999077,"joint_targets_rad":[-1.9855217697880703,-1.5824435896436435,1.3171580079709795,-1.305623471145354,-1.5707854814972046,-0.4147254687059873],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.499999999999066,"qpos":[-1.9855349454686866,-1.5866869794539764,1.3386029991270618,-1.323162997524231,-1.5707779670168784,-0.4147347169502193,0.0029265836233163434,0.00015598657154219033,0.0031870754070941424,-0.0034218015907031113,0.002926704435953834,0.00015641843092357196,0.003193670925516544,-0.003430070163984727,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.4819072443409055e-16,-4.084129966362029e-17,-1.4543589737632144e-07],"qvel":[5.245302873432256e-06,0.020695985790139905,-0.1087436398628954,0.08815321260067041,-3.7728315875708974e-05,4.671096701894004e-05,1.089955625551716e-05,1.3056680832105015e-06,1.0214353700523254e-05,-1.2985735376594942e-05,1.051407807320653e-05,-2.1714979658893363e-07,1.2418015298565337e-06,-1.5793490589190094e-05,5.070877879977888e-17,-1.8183401379250339e-16,6.799582969407034e-15,5.355573458727612e-15,1.588483094026776e-15,-1.1536462120456534e-08],"joint_position_rad":[-1.9855349454686866,-1.5866869794539764,1.3386029991270618,-1.323162997524231,-1.5707779670168784,-0.4147347169502193],"joint_velocity_rad_s":[5.245302873432256e-06,0.020695985790139905,-0.1087436398628954,0.08815321260067041,-3.7728315875708974e-05,4.671096701894004e-05],"linkage_position_rad":[0.0029265836233163434,0.00015598657154219033,0.0031870754070941424,-0.0034218015907031113,0.002926704435953834,0.00015641843092357196,0.003193670925516544,-0.003430070163984727],"tcp_position_m":[0.06809707965007843,0.487227367776289,0.42844587726527983],"tcp_quaternion_wxyz":[-9.017659833184146e-05,0.7071081412098795,0.7071053852000034,0.00020669795410773112],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.4819072443409055e-16,-4.084129966362029e-17,-1.4543589737632144e-07],"object_linear_velocity_m_s":[5.070877879977888e-17,-1.8183401379250339e-16,6.799582969407034e-15],"object_angular_velocity_rad_s":[5.355573921714647e-15,1.588481532822253e-15,-1.1536462120456547e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313542893111673,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985521025675463,-1.592295066723903,1.3069729028228463,-1.3104501931767143,-1.5707841732742662,-0.41472546850671294,0.0],"actuator_force":[0.02574146529832433,-19.49456885590962,-19.762736663273245,-2.4589190863088106,0.0006697028935604976,-4.687494870836417e-05,-0.2927714711351525],"issued_joint_targets_rad":[-1.9855207300584068,-1.5824011355134096,1.3170984054341484,-1.3055958858640337,-1.5707864657634871,-0.41472442922670744],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.499999999999066,"joint_targets_rad":[-1.9855207300584068,-1.5824011355134096,1.3170984054341484,-1.3055958858640337,-1.5707864657634871,-0.41472442922670744],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.519999999999055,"qpos":[-1.9855345380690355,-1.58628991626629,1.3365342715047597,-1.3214869230903237,-1.5707787800725586,-0.4147337356775731,0.002926850697534155,0.00015601722368517612,0.003187289833765502,-0.003422135137995414,0.0029269600556018666,0.00015640854931855277,0.003193677014344241,-0.0034304434453290254,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.7571124153762963e-16,-5.1842482377638643e-17,-1.4589416460336416e-07],"qvel":[1.2930264579591736e-05,0.01898071590002241,-0.09855186303909168,0.07986928086096928,-3.8619622534740396e-05,4.700525690283843e-05,1.4059861365339805e-05,1.1920979162290562e-06,1.3219018914456283e-05,-1.5842441075636913e-05,1.3699191261830801e-05,-2.227376361614684e-07,4.998041959579411e-06,-1.831821068684416e-05,6.563638251576142e-17,-2.2441772750018116e-16,6.928646396019707e-15,3.4913206889251525e-15,7.476882538761967e-16,-2.1062666512431786e-08],"joint_position_rad":[-1.9855345380690355,-1.58628991626629,1.3365342715047597,-1.3214869230903237,-1.5707787800725586,-0.4147337356775731],"joint_velocity_rad_s":[1.2930264579591736e-05,0.01898071590002241,-0.09855186303909168,0.07986928086096928,-3.8619622534740396e-05,4.700525690283843e-05],"linkage_position_rad":[0.002926850697534155,0.00015601722368517612,0.003187289833765502,-0.003422135137995414,0.0029269600556018666,0.00015640854931855277,0.003193677014344241,-0.0034304434453290254],"tcp_position_m":[0.06809955657489465,0.48723295606549,0.4290831794020862],"tcp_quaternion_wxyz":[-8.899909924880495e-05,0.7071083445348268,0.7071051825785714,0.00020478989622037784],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.7571124153762963e-16,-5.1842482377638643e-17,-1.4589416460336416e-07],"object_linear_velocity_m_s":[6.563638251576142e-17,-2.2441772750018116e-16,6.928646396019707e-15],"object_angular_velocity_rad_s":[3.4913209092755957e-15,7.476872277476403e-16,-2.1062666512431813e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313543629433692,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855201225757668,-1.5922567455340821,1.3069170430860455,-1.310422858662588,-1.5707851602029363,-0.41472442896392103,0.0],"actuator_force":[0.02365888070562505,-19.525944895593057,-19.81371162179221,-2.454895872229031,0.0006718970645351874,-4.716886422784228e-05,-0.29282933291993696],"issued_joint_targets_rad":[-1.9855197814880494,-1.5823654686126365,1.3170479507031028,-1.3055716076632347,-1.570787363823553,-0.414723480608932],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.519999999999055,"joint_targets_rad":[-1.9855197814880494,-1.5823654686126365,1.3170479507031028,-1.3055716076632347,-1.570787363823553,-0.414723480608932],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.539999999999043,"qpos":[-1.9855340229960383,-1.5859260471405696,1.3346597548405885,-1.319968433107757,-1.5707796011391468,-0.41473275710827123,0.0029271671527622556,0.00015604486561297535,0.003187557388538393,-0.003422507858873564,0.0029272661332882,0.00015639940387377293,0.0031937555247464264,-0.003430852250835433,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.8913437709530682e-16,-5.770454939542971e-17,-1.463426432156621e-07],"qvel":[1.93820049328157e-05,0.017390880530136356,-0.08929943912169643,0.07236046230672688,-3.902820788138545e-05,4.685418394769284e-05,1.614910599820095e-05,1.08739836593423e-06,1.5207151176428755e-05,-1.7676044211536557e-05,1.5812974797382903e-05,-2.2328638344667482e-07,7.683064690366646e-06,-1.9863847232468805e-05,8.259797495421351e-17,-2.694785388645194e-16,6.971667538223935e-15,4.909395371495893e-16,-1.5069888783315932e-16,-3.845511006595764e-08],"joint_position_rad":[-1.9855340229960383,-1.5859260471405696,1.3346597548405885,-1.319968433107757,-1.5707796011391468,-0.41473275710827123],"joint_velocity_rad_s":[1.93820049328157e-05,0.017390880530136356,-0.08929943912169643,0.07236046230672688,-3.902820788138545e-05,4.685418394769284e-05],"linkage_position_rad":[0.0029271671527622556,0.00015604486561297535,0.003187557388538393,-0.003422507858873564,0.0029272661332882,0.00015639940387377293,0.0031937555247464264,-0.003430852250835433],"tcp_position_m":[0.06810184349159724,0.48723823420661216,0.42965845163076966],"tcp_quaternion_wxyz":[-8.719620162353392e-05,0.7071085091087888,0.7071050192352428,0.00020128361699733768],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.8913437709530682e-16,-5.770454939542971e-17,-1.463426432156621e-07],"object_linear_velocity_m_s":[8.259797495421351e-17,-2.694785388645194e-16,6.971667538223935e-15],"object_angular_velocity_rad_s":[4.909394974802893e-16,-1.5069904607029937e-16,-3.845511006595769e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313543633134357,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855192855545432,-1.5922249383101423,1.3068700026353501,-1.3103987721687678,-1.5707860609581281,-0.4147234802997032,0.0],"actuator_force":[0.021722081017287564,-19.55413455120015,-19.859728761798124,-2.451215761178105,0.0006729112974426243,-4.7014110720056124e-05,-0.2928814747065007],"issued_joint_targets_rad":[-1.9855189166845193,-1.582335443741172,1.317005156728163,-1.305550212348558,-1.5707881826532588,-0.41472261551562517],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.539999999999043,"joint_targets_rad":[-1.9855189166845193,-1.582335443741172,1.317005156728163,-1.305550212348558,-1.5707881826532588,-0.41472261551562517],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.559999999999032,"qpos":[-1.985533418340884,-1.585592888596204,1.33296149049275,-1.3185927695486932,-1.5707804218587256,-0.4147317890248291,0.0029275145443299778,0.00015606979800979117,0.0031878595012232724,-0.003422902977172453,0.0029276041243702046,0.00015639095809717442,0.0031938861349561916,-0.0034312801354299065,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.6013838349124257e-16,-4.894225842680098e-17,-1.4669726713272008e-07],"qvel":[2.4719583814567008e-05,0.015920577639515363,-0.0809026676172555,0.06555476122725,-3.9033266944146865e-05,4.63341356984936e-05,1.7409634833488582e-05,9.910504799901584e-07,1.6408868104154902e-05,-1.8720794131696726e-05,1.7097440464427632e-05,-2.2004595160180753e-07,9.529527791329418e-06,-2.0658101289973965e-05,8.273618228394717e-17,-2.7515077551457027e-16,7.039668698482226e-15,-1.143396183848697e-15,-2.4119672491123594e-16,-7.020931985568421e-08],"joint_position_rad":[-1.985533418340884,-1.585592888596204,1.33296149049275,-1.3185927695486932,-1.5707804218587256,-0.4147317890248291],"joint_velocity_rad_s":[2.4719583814567008e-05,0.015920577639515363,-0.0809026676172555,0.06555476122725,-3.9033266944146865e-05,4.63341356984936e-05],"linkage_position_rad":[0.0029275145443299778,0.00015606979800979117,0.0031878595012232724,-0.003422902977172453,0.0029276041243702046,0.00015639095809717442,0.0031938861349561916,-0.0034312801354299065],"tcp_position_m":[0.06810394715207348,0.48724320159109435,0.43017774007951337],"tcp_quaternion_wxyz":[-8.490167903107667e-05,0.707108638503778,0.707104891461049,0.00019651182082967175],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.6013838349124257e-16,-4.894225842680098e-17,-1.4669726713272008e-07],"object_linear_velocity_m_s":[8.273618228394717e-17,-2.7515077551457027e-16,7.039668698482226e-15],"object_angular_velocity_rad_s":[-1.1433962477420482e-15,-2.4119641193145006e-16,-7.020931985568431e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931354309572655,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985518511821769,-1.5921985074727427,1.3068303205244498,-1.31037752037193,-1.5707868824870812,-0.41472261517378417,0.0],"actuator_force":[0.019925204703667987,-19.57946880888312,-19.901272889698248,-2.4478515343433855,0.0006730125165859135,-4.6488047388493214e-05,-0.2929284688114987],"issued_joint_targets_rad":[-1.9855181287425059,-1.582310115028485,1.3169687857383026,-1.3055313322248439,-1.570788928772437,-0.41472182708951055],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.559999999999032,"joint_targets_rad":[-1.9855181287425059,-1.582310115028485,1.3169687857383026,-1.3055313322248439,-1.570788928772437,-0.41472182708951055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.579999999999021,"qpos":[-1.9855327407531986,-1.5852880864907914,1.3314231306666922,-1.3173465471986237,-1.5707812353060282,-0.41473083780390574,0.0029278786914600638,0.000156092290595018,0.003188181836108124,-0.003423307696106086,0.002927959757179268,0.00015638317338173379,0.003194052911074934,-0.003431714603932931,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.1845825021652358e-16,-3.564569843092986e-17,-1.4696358780678274e-07],"qvel":[2.905847097415158e-05,0.01456345476335738,-0.07328478318279048,0.05938679081693402,-3.8704061741416214e-05,4.551197135374068e-05,1.80352282089042e-05,9.025348762020268e-07,1.7008112059296098e-05,-1.9163813839504227e-05,1.7746126560004958e-05,-2.1401792296859164e-07,1.0724061059003395e-05,-2.0882618624283643e-05,4.38632011523413e-17,-1.4967911979668546e-16,7.053546486290041e-15,5.910148651976615e-15,1.7262077839652191e-15,-7.606604850487504e-09],"joint_position_rad":[-1.9855327407531986,-1.5852880864907914,1.3314231306666922,-1.3173465471986237,-1.5707812353060282,-0.41473083780390574],"joint_velocity_rad_s":[2.905847097415158e-05,0.01456345476335738,-0.07328478318279048,0.05938679081693402,-3.8704061741416214e-05,4.551197135374068e-05],"linkage_position_rad":[0.0029278786914600638,0.000156092290595018,0.003188181836108124,-0.003423307696106086,0.002927959757179268,0.00015638317338173379,0.003194052911074934,-0.003431714603932931],"tcp_position_m":[0.06810587593669905,0.48724786209177906,0.4306465001911702],"tcp_quaternion_wxyz":[-8.22289518761932e-05,0.7071087362886911,0.7071047955674231,0.0001907568141547856],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.1845825021652358e-16,-3.564569843092986e-17,-1.4696358780678274e-07],"object_linear_velocity_m_s":[4.38632011523413e-17,-1.4967911979668546e-16,7.053546486290041e-15],"object_angular_velocity_rad_s":[5.910149159898033e-15,1.7262060450097162e-15,-7.606604850487516e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931354216824741,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855177982303063,-1.5921765170725888,1.306796783534541,-1.3103587445917686,-1.5707876312858655,-0.4147218267262118,0.0],"actuator_force":[0.01826165739521457,-19.60224306893724,-19.938780991185922,-2.4447777782658022,0.00067241625549741,-4.565828839986352e-05,-0.29297082920581113],"issued_joint_targets_rad":[-1.9855174112341367,-1.5822887007009914,1.3169378070682876,-1.3055146487434517,-1.5707896082529045,-0.4147211089440151],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.579999999999021,"joint_targets_rad":[-1.9855174112341367,-1.5822887007009914,1.3169378070682876,-1.3055146487434517,-1.5707896082529045,-0.4147211089440151],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.59999999999901,"qpos":[-1.9855320053738632,-1.5850094215731672,1.330029802980845,-1.3162176273580508,-1.5707820358058004,-0.4147299085962956,0.002928248815302728,0.0001561125854829217,0.0031885134400505017,-0.00342371238611712,0.0029283221702565794,0.00015637601013113344,0.003194243442568495,-0.0034321463014811314,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.1483648205577194e-16,-3.081948644225533e-17,-1.4744982210327479e-07],"qvel":[3.2508773212480636e-05,0.013312926680923568,-0.06637547745399708,0.05379717635146698,-3.8100965629170724e-05,4.4445977481788015e-05,1.8180345368101345e-05,8.213383779838578e-07,1.71514580133559e-05,-1.9154077477447038e-05,1.7913323299634774e-05,-2.0600010136162466e-07,1.1416012347556377e-05,-2.0681777755322657e-05,3.767608151606116e-17,-1.4541193665116787e-16,7.125710982890676e-15,4.3267785139724234e-15,1.3906519370679076e-15,-1.3887739550027522e-08],"joint_position_rad":[-1.9855320053738632,-1.5850094215731672,1.330029802980845,-1.3162176273580508,-1.5707820358058004,-0.4147299085962956],"joint_velocity_rad_s":[3.2508773212480636e-05,0.013312926680923568,-0.06637547745399708,0.05379717635146698,-3.8100965629170724e-05,4.4445977481788015e-05],"linkage_position_rad":[0.002928248815302728,0.0001561125854829217,0.0031885134400505017,-0.00342371238611712,0.0029283221702565794,0.00015637601013113344,0.003194243442568495,-0.0034321463014811314],"tcp_position_m":[0.06810763927557112,0.48725222294350795,0.4310696546647887],"tcp_quaternion_wxyz":[-7.927383293452985e-05,0.7071088059423999,0.7071047279743031,0.0001842573180874498],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.1483648205577194e-16,-3.081948644225533e-17,-1.4744982210327479e-07],"object_linear_velocity_m_s":[3.767608151606116e-17,-1.4541193665116787e-16,7.125710982890676e-15],"object_angular_velocity_rad_s":[4.32677892493103e-15,1.3906506579127668e-15,-1.3887739550027547e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313540969163568,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855171414210264,-1.5921581968151288,1.3067683839845214,-1.310342133746182,-1.570788313406779,-0.41472110856820443,0.0],"actuator_force":[0.016724396388781315,-19.622721156292755,-19.97264701104814,-2.4419708292123232,0.0006712960736194873,-4.4583702589306995e-05,-0.2930090176213041],"issued_joint_targets_rad":[-1.9855167581940538,-1.5822705541130113,1.3169113620636352,-1.3054998859697489,-1.5707902267316465,-0.4147204551490312],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.59999999999901,"joint_targets_rad":[-1.9855167581940538,-1.5822705541130113,1.3169113620636352,-1.3054998859697489,-1.5707902267316465,-0.4147204551490312],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.619999999999,"qpos":[-1.9855312258248725,-1.584754811429612,1.328767984751382,-1.3151950029782515,-1.5707828187695154,-0.41472900548831276,0.0029286168418085723,0.0001561309001474057,0.0031888460532047327,-0.0034241099286999527,0.0029286832144955464,0.0001563694286284849,0.0031944481413247947,-0.0034325683596800357,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.2439380598276789e-16,-3.5781476259324156e-17,-1.478818304777582e-07],"qvel":[3.517407295442819e-05,0.012162341717132711,-0.060110435145426605,0.04873201156834652,-3.727642006055939e-05,4.318675575807319e-05,1.7967651514182745e-05,7.46959266727229e-07,1.6955279582058645e-05,-1.8809721637974345e-05,1.7721584992136782e-05,-1.9662392429873705e-07,1.1724561083227144e-05,-2.0169852680012917e-05,4.8562132268389494e-17,-1.6695163960430333e-16,7.138200991917712e-15,1.767803805660058e-15,4.529893697111723e-16,-2.535550532732683e-08],"joint_position_rad":[-1.9855312258248725,-1.584754811429612,1.328767984751382,-1.3151950029782515,-1.5707828187695154,-0.41472900548831276],"joint_velocity_rad_s":[3.517407295442819e-05,0.012162341717132711,-0.060110435145426605,0.04873201156834652,-3.727642006055939e-05,4.318675575807319e-05],"linkage_position_rad":[0.0029286168418085723,0.0001561309001474057,0.0031888460532047327,-0.0034241099286999527,0.0029286832144955464,0.0001563694286284849,0.0031944481413247947,-0.0034325683596800357],"tcp_position_m":[0.06810924720157135,0.48725629384382285,0.43145164567096594],"tcp_quaternion_wxyz":[-7.611692117390182e-05,0.7071088507927976,0.7071046852706875,0.0001772144029346705],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.2439380598276789e-16,-3.5781476259324156e-17,-1.478818304777582e-07],"object_linear_velocity_m_s":[4.8562132268389494e-17,-1.6695163960430333e-16,7.138200991917712e-15],"object_angular_velocity_rad_s":[1.7678039414522923e-15,4.52988840550892e-16,-2.5355505327326876e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313539590786332,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855165379343256,-1.5921429125132085,1.306744284648944,-1.3103274180765296,-1.5707889344709836,-0.4147204547678337,0.0],"actuator_force":[0.015306151911772758,-19.641138854046403,-20.0032261467054,-2.439408705973733,0.0006697912720028398,-4.331533628487705e-05,-0.29304344899773754],"issued_joint_targets_rad":[-1.985516164100785,-1.5822551399271907,1.3168887349036842,-1.305486804829545,-1.570790789427727,-0.4147198602129582],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.619999999999,"joint_targets_rad":[-1.985516164100785,-1.5822551399271907,1.3168887349036842,-1.305486804829545,-1.570790789427727,-0.4147198602129582],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.639999999998988,"qpos":[-1.9855304142404813,-1.5845223097060575,1.327625386619226,-1.3142686942122868,-1.5707835805498196,-0.41472813164598954,0.0029289768387332315,0.00015614743004208157,0.003189173552094348,-0.0034244951870925746,0.0029290368894780094,0.00015636338969779066,0.003194659673927023,-0.0034329758694620835,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.2488646556040594e-16,-4.179527533610805e-17,-1.482963754935047e-07],"qvel":[3.71507358262278e-05,0.011105106974014945,-0.05443088824980648,0.04414236335734855,-3.627580765173147e-05,4.177804256234559e-05,1.7494143504151395e-05,6.789115868223437e-07,1.6511578385094245e-05,-1.8223999016572387e-05,1.7267843442196476e-05,-1.863850815965318e-07,1.1744504441673731e-05,-1.9436836179368654e-05,6.738216479585273e-17,-1.903272285737858e-16,7.278366648776638e-15,-3.839022858281506e-16,-8.875106982009216e-16,-4.6292749665139735e-08],"joint_position_rad":[-1.9855304142404813,-1.5845223097060575,1.327625386619226,-1.3142686942122868,-1.5707835805498196,-0.41472813164598954],"joint_velocity_rad_s":[3.71507358262278e-05,0.011105106974014945,-0.05443088824980648,0.04414236335734855,-3.627580765173147e-05,4.177804256234559e-05],"linkage_position_rad":[0.0029289768387332315,0.00015614743004208157,0.003189173552094348,-0.0034244951870925746,0.0029290368894780094,0.00015636338969779066,0.003194659673927023,-0.0034329758694620835],"tcp_position_m":[0.0681107100090257,0.48726008623372025,0.43179648191500847],"tcp_quaternion_wxyz":[-7.282568824734938e-05,0.7071088739760564,0.7071046642540463,0.00016979665650132485],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999999,-1.2488646556040594e-16,-4.179527533610805e-17,-1.482963754935047e-07],"object_linear_velocity_m_s":[6.738216479585273e-17,-1.903272285737858e-16,7.278366648776638e-15],"object_angular_velocity_rad_s":[-3.8390254518773925e-16,-8.875105959009257e-16,-4.629274966513983e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313538104473067,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855159842947416,-1.5921301418207845,1.3067237896164297,-1.3103143636096635,-1.5707894996849228,-0.4147198598319995,0.0],"actuator_force":[0.013999597148995235,-19.657707019060126,-20.030838705669794,-2.43707103442307,0.0006680132136125394,-4.189726121239801e-05,-0.2930744963452938],"issued_joint_targets_rad":[-1.9855156238555907,-1.5822420145282177,1.3168693283651407,-1.3054751980762844,-1.5707913011617596,-0.41471931906219445],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.639999999998988,"joint_targets_rad":[-1.9855156238555907,-1.5822420145282177,1.3168693283651407,-1.3054751980762844,-1.5707913011617596,-0.41471931906219445],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.659999999998977,"qpos":[-1.9855295813273393,-1.584310103309851,1.3265908450865764,-1.3134296534546577,-1.5707843183111527,-0.41472728944348886,0.002929324561713347,0.00015616235092230613,0.003189491500318368,-0.0034248645800636517,0.0029293788889381517,0.00015635785519443885,0.0031948725023704977,-0.0034333654568180607,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999999,-1.2066018416579842e-16,-6.267833857888847e-17,-1.486612755580223e-07],"qvel":[3.8527573629397365e-05,0.010134780853184148,-0.049283190978575024,0.03998382041321637,-3.513824600425653e-05,4.025746160960414e-05,1.6836131157701652e-05,6.167283994197934e-07,1.589272123002188e-05,-1.747011520633645e-05,1.6628379115986828e-05,-1.7566929634026356e-07,1.1550957985214954e-05,-1.8553179567876383e-05,1.987850800477927e-16,-2.64270733407866e-16,7.412981190512447e-15,-7.361654044418956e-15,-1.093803966988595e-14,-8.451887051321943e-08],"joint_position_rad":[-1.9855295813273393,-1.584310103309851,1.3265908450865764,-1.3134296534546577,-1.5707843183111527,-0.41472728944348886],"joint_velocity_rad_s":[3.8527573629397365e-05,0.010134780853184148,-0.049283190978575024,0.03998382041321637,-3.513824600425653e-05,4.025746160960414e-05],"linkage_position_rad":[0.002929324561713347,0.00015616235092230613,0.003189491500318368,-0.0034248645800636517,0.0029293788889381517,0.00015635785519443885,0.0031948725023704977,-0.0034333654568180607],"tcp_position_m":[0.06811203799664023,0.4872636127254659,0.4321077810627684],"tcp_quaternion_wxyz":[-6.94562963848246e-05,0.7071088784114817,0.7071046619536457,0.0001621446836163451],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-1.206601841657983e-16,-6.26783385788884e-17,-1.4866127555802213e-07],"object_linear_velocity_m_s":[1.987850800477927e-16,-2.64270733407866e-16,7.412981190512447e-15],"object_angular_velocity_rad_s":[-7.361657285949487e-15,-1.093803750149583e-14,-8.451887051321942e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313536564839853,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985515477074115,-1.5921194543050634,1.306706320104799,-1.3103027673052972,-1.5707900138593558,-0.41471931868586753,0.0],"actuator_force":[0.01279747699663858,-19.67261433169824,-20.055773572124508,-2.4349389666414254,0.0006660504988076354,-4.0367350266024005e-05,-0.29310249508394337],"issued_joint_targets_rad":[-1.9855151327597436,-1.5822308099163929,1.3168526437038532,-1.305464885912584,-1.5707917663769935,-0.4147188270190116],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.659999999998977,"joint_targets_rad":[-1.9855151327597436,-1.5822308099163929,1.3168526437038532,-1.305464885912584,-1.5707917663769935,-0.4147188270190116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.679999999998966,"qpos":[-1.9855287364440724,-1.5841165081492576,1.3256542234942972,-1.3126696790254722,-1.570785029915078,-0.41472648057708655,0.0029296570889667624,0.00015617582090455393,0.0031897967867210142,-0.003425215739443038,0.0029297062349027355,0.00015635278836064495,0.0031950825130093027,-0.0034337349421214958,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-1.1032183399241274e-16,-8.003469660359126e-17,-1.4898187576626174e-07],"qvel":[3.938577234243878e-05,0.009245139647830122,-0.044618417134674654,0.03621608195649787,-3.389730694143091e-05,3.86572117785595e-05,1.6053284856843724e-05,5.599641756812165e-07,1.5155286860453065e-05,-1.6605163921478246e-05,1.586286047053769e-05,-1.6477321420316265e-07,1.1203175558608506e-05,-1.7573638540310365e-05,9.299040923740116e-17,-1.341523639991302e-16,6.416556025911367e-15,4.3782171741967425e-15,2.5200791919133875e-15,-9.15692748092515e-09],"joint_position_rad":[-1.9855287364440724,-1.5841165081492576,1.3256542234942972,-1.3126696790254722,-1.570785029915078,-0.41472648057708655],"joint_velocity_rad_s":[3.938577234243878e-05,0.009245139647830122,-0.044618417134674654,0.03621608195649787,-3.389730694143091e-05,3.86572117785595e-05],"linkage_position_rad":[0.0029296570889667624,0.00015617582090455393,0.0031897967867210142,-0.003425215739443038,0.0029297062349027355,0.00015635278836064495,0.0031950825130093027,-0.0034337349421214958],"tcp_position_m":[0.06811324127741089,0.48726688665030965,0.43238880799132406],"tcp_quaternion_wxyz":[-6.605518146206811e-05,0.7071088667882629,0.7071046756417921,0.00015437502175652887],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-1.1032183399241274e-16,-8.003469660359126e-17,-1.4898187576626174e-07],"object_linear_velocity_m_s":[9.299040923740116e-17,-1.341523639991302e-16,6.416556025911367e-15],"object_angular_velocity_rad_s":[4.378217926554543e-15,2.520077885342843e-15,-9.15692748092515e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313535013169588,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855150129377241,-1.5921104950822622,1.3066913944058045,-1.310292452828009,-1.570790481430056,-0.4147188266506981,0.0],"actuator_force":[0.011692703759308642,-19.686029725140997,-20.078291323115536,-2.432995096918262,0.0006639732051780811,-3.8757983617188074e-05,-0.29312774692011184],"issued_joint_targets_rad":[-1.9855146864909825,-1.5822212204614725,1.316838263964857,-1.3054557121974109,-1.5707921891612895,-0.4147183797785532],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.679999999998966,"joint_targets_rad":[-1.9855146864909825,-1.5822212204614725,1.316838263964857,-1.3054557121974109,-1.5707921891612895,-0.4147183797785532],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.699999999998955,"qpos":[-1.9855278876929991,-1.5839399638512175,1.324806320951536,-1.3119813367293107,-1.570785713818925,-0.4147257061660221,0.002929972527942372,0.00015618798229731837,0.0031900873345890907,-0.0034255472355571043,0.002930016983828542,0.00015634815407051096,0.0031952867172363245,-0.0034340830672171785,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-1.2001977235238713e-16,-8.982171058374011e-17,-1.494441537944305e-07],"qvel":[3.979901399101505e-05,0.008430223689911464,-0.04039198085300271,0.03280258301153467,-3.2581666179051605e-05,3.7004692967524495e-05,1.5191921284682737e-05,5.081963059747804e-07,1.4343187510994446e-05,-1.56733178138193e-05,1.5017622960847111e-05,-1.5392186112799038e-07,1.0747648746656483e-05,-1.654039823828076e-05,1.1122772722287708e-16,-1.517399376685048e-16,6.354105980776202e-15,3.619789665158179e-15,2.586553584130055e-15,-1.6718237167983035e-08],"joint_position_rad":[-1.9855278876929991,-1.5839399638512175,1.324806320951536,-1.3119813367293107,-1.570785713818925,-0.4147257061660221],"joint_velocity_rad_s":[3.979901399101505e-05,0.008430223689911464,-0.04039198085300271,0.03280258301153467,-3.2581666179051605e-05,3.7004692967524495e-05],"linkage_position_rad":[0.002929972527942372,0.00015618798229731837,0.0031900873345890907,-0.0034255472355571043,0.002930016983828542,0.00015634815407051096,0.0031952867172363245,-0.0034340830672171785],"tcp_position_m":[0.06811432964149944,0.48726992170376104,0.43264250927958203],"tcp_quaternion_wxyz":[-6.266043077445948e-05,0.7071088415611624,0.7071047028361248,0.00014658354676747495],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-1.2001977235238713e-16,-8.982171058374011e-17,-1.494441537944305e-07],"object_linear_velocity_m_s":[1.1122772722287708e-16,-1.517399376685048e-16,6.354105980776202e-15],"object_angular_velocity_rad_s":[3.619790441251962e-15,2.5865524982040948e-15,-1.671823716798304e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313533480165315,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855145886769718,-1.5921029713801718,1.3066786112656439,-1.3102832668799986,-1.5707909064794408,-0.41471837942080697,0.0],"actuator_force":[0.010678426458071044,-19.698104533872993,-20.098627030582975,-2.431223376497428,0.0006618363599955046,-3.709668916940245e-05,-0.29315052330977337],"issued_joint_targets_rad":[-1.9855142810797237,-1.58221299200728,1.316825840142836,-1.3054475411716076,-1.5707925732694046,-0.4147179733855409],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.699999999998955,"joint_targets_rad":[-1.9855142810797237,-1.58221299200728,1.316825840142836,-1.3054475411716076,-1.5707925732694046,-0.4147179733855409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.719999999998944,"qpos":[-1.9855270420184137,-1.5837790278028476,1.3240387887214213,-1.3113578885862618,-1.5707863689864447,-0.41472496684144444,0.002930269780325789,0.00015619896323098133,0.003190361868464753,-0.0034258583577350867,0.002930309991139571,0.0001563439189894309,0.0031954830104562676,-0.0034344092774217573,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-1.2824057014133107e-16,-7.929561294654907e-17,-1.4990333919160616e-07],"qvel":[3.983373643462511e-05,0.00768436748306861,-0.03656328105121425,0.029710153059995532,-3.1215688358049555e-05,3.5323073238372093e-05,1.4287668122949219e-05,4.610261434635789e-07,1.3490199074117711e-05,-1.4708416646236164e-05,1.4128328297352364e-05,-1.4328281866437831e-07,1.0220621868292435e-05,-1.5485602840955423e-05,1.0507455372200443e-16,-1.7539289734585944e-16,6.376310441268708e-15,1.5090418535463437e-15,2.0709331796182214e-15,-3.0523279188043645e-08],"joint_position_rad":[-1.9855270420184137,-1.5837790278028476,1.3240387887214213,-1.3113578885862618,-1.5707863689864447,-0.41472496684144444],"joint_velocity_rad_s":[3.983373643462511e-05,0.00768436748306861,-0.03656328105121425,0.029710153059995532,-3.1215688358049555e-05,3.5323073238372093e-05],"linkage_position_rad":[0.002930269780325789,0.00015619896323098133,0.003190361868464753,-0.0034258583577350867,0.002930309991139571,0.0001563439189894309,0.0031954830104562676,-0.0034344092774217573],"tcp_position_m":[0.06811531246074784,0.48727273167007706,0.4328715443118321],"tcp_quaternion_wxyz":[-5.930298131783557e-05,0.7071088049528066,0.7071047412954335,0.0001388484332808153],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-1.2824057014133107e-16,-7.929561294654907e-17,-1.4990333919160616e-07],"object_linear_velocity_m_s":[1.0507455372200443e-16,-1.7539289734585944e-16,6.376310441268708e-15],"object_angular_velocity_rad_s":[1.5090424792665971e-15,2.070932719368657e-15,-3.052327918804365e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931353198817149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855142012315197,-1.592096641504117,1.3066676361203704,-1.3102750760313568,-1.5707912927585541,-0.41471797304024033,0.0],"actuator_force":[0.009748079214205063,-19.708974395765836,-20.116992781615863,-2.42960902854702,0.000659682781133597,-3.540672179269677e-05,-0.2931710685553695],"issued_joint_targets_rad":[-1.985513912885469,-1.5822059129082118,1.3168150797100648,-1.30544025463825,-1.5707929221451498,-0.41471760421112014],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.719999999998944,"joint_targets_rad":[-1.985513912885469,-1.5822059129082118,1.3168150797100648,-1.30544025463825,-1.5707929221451498,-0.41471760421112014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.739999999998933,"qpos":[-1.985526205307279,-1.583632368785535,1.323344053568873,-1.3107932280937349,-1.5707869948092916,-0.41472426282460845,0.002930548354323721,0.00015620887911015646,0.003190619727663821,-0.0034261489393754203,0.0029305847230832725,0.00015634005166508832,0.003195669978379524,-0.003434713547961176,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-1.190083361818297e-16,-6.739389759996515e-17,-1.5028155743785955e-07],"qvel":[3.954948753680827e-05,0.007002217390918077,-0.03309536947505851,0.02690870517509705,-2.981995237692542e-05,3.363180091701758e-05,1.3367622478801664e-05,4.1807929249336627e-07,1.262200962635862e-05,-1.3736065339205189e-05,1.3222118521394579e-05,-1.3297783229927332e-07,9.650130219517944e-06,-1.4433404425331137e-05,1.1182356882343295e-16,-1.9483038875012033e-16,6.437372707623093e-15,-1.1122516090261155e-15,-1.82084759578865e-16,-5.572779970937942e-08],"joint_position_rad":[-1.985526205307279,-1.583632368785535,1.323344053568873,-1.3107932280937349,-1.5707869948092916,-0.41472426282460845],"joint_velocity_rad_s":[3.954948753680827e-05,0.007002217390918077,-0.03309536947505851,0.02690870517509705,-2.981995237692542e-05,3.363180091701758e-05],"linkage_position_rad":[0.002930548354323721,0.00015620887911015646,0.003190619727663821,-0.0034261489393754203,0.0029305847230832725,0.00015634005166508832,0.003195669978379524,-0.003434713547961176],"tcp_position_m":[0.06811619862572046,0.4872753302108907,0.4330783133296025],"tcp_quaternion_wxyz":[-5.600766112626567e-05,0.7071087589607256,0.7071047890108902,0.00013123272619181152],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-1.190083361818297e-16,-6.739389759996515e-17,-1.5028155743785955e-07],"object_linear_velocity_m_s":[1.1182356882343295e-16,-1.9483038875012033e-16,6.437372707623093e-15],"object_angular_velocity_rad_s":[-1.112251656242603e-15,-1.820844385411953e-16,-5.5727799709379446e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313530552962575,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855138477031997,-1.592091305776261,1.3066581897009,-1.3102677639877562,-1.5707916437089564,-0.4147176038795942,0.0],"actuator_force":[0.008895413144273334,-19.718760937819297,-20.13357994592252,-2.42813846452043,0.0006575454053745489,-3.370758457776901e-05,-0.29318960257535065],"issued_joint_targets_rad":[-1.9855135785737494,-1.582199806653276,1.316805737108817,-1.3054337495393378,-1.5707932389430894,-0.4147172689301931],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.739999999998933,"joint_targets_rad":[-1.9855135785737494,-1.582199806653276,1.316805737108817,-1.3054337495393378,-1.5707932389430894,-0.4147172689301931],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.759999999998922,"qpos":[-1.9855253824892605,-1.5834987604089275,1.3227152475860542,-1.3102818214334417,-1.570787591038196,-0.4147235939953985,0.0029308082152066416,0.0001562178339106728,0.003190860717591152,-0.0034264192190356854,0.0029308411068821216,0.00015633652256547288,0.003195846741702863,-0.0034349962463179847,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-9.953332091983572e-17,-5.691261071109947e-17,-1.505942778546404e-07],"qvel":[3.8999339978090457e-05,0.0063787397493452235,-0.02995464187526581,0.02437095299542165,-2.84117218716469e-05,3.194706533513696e-05,1.2452097053703114e-05,3.7900572892900564e-07,1.1757876476144895e-05,-1.2775326009378771e-05,1.231935869663892e-05,-1.2309246267304204e-07,9.057649406151734e-06,-1.3401621138176576e-05,1.5023135191997689e-16,-2.0943702614674107e-16,6.523414992031543e-15,-3.563439675460825e-15,-4.511254915233093e-15,-1.0174488924719605e-07],"joint_position_rad":[-1.9855253824892605,-1.5834987604089275,1.3227152475860542,-1.3102818214334417,-1.570787591038196,-0.4147235939953985],"joint_velocity_rad_s":[3.8999339978090457e-05,0.0063787397493452235,-0.02995464187526581,0.02437095299542165,-2.84117218716469e-05,3.194706533513696e-05],"linkage_position_rad":[0.0029308082152066416,0.0001562178339106728,0.003190860717591152,-0.0034264192190356854,0.0029308411068821216,0.00015633652256547288,0.003195846741702863,-0.0034349962463179847],"tcp_position_m":[0.06811699650791696,0.4872777307056224,0.4332649827334648],"tcp_quaternion_wxyz":[-5.27940934258229e-05,0.7071087053676904,0.7071048441941946,0.00012378657247683986],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-9.953332091983572e-17,-5.691261071109947e-17,-1.505942778546404e-07],"object_linear_velocity_m_s":[1.5023135191997689e-16,-2.0943702614674107e-16,6.523414992031543e-15],"object_angular_velocity_rad_s":[-3.563441022617886e-15,-4.511253862219656e-15,-1.017448892471961e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313529185180745,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855135253635856,-1.592086799094894,1.3066500386028004,-1.3102612292399207,-1.5707919624841895,-0.41471726861332614,0.0],"actuator_force":[0.008114515358556673,-19.72757327167119,-20.14856121640105,-2.4267992027816945,0.0006554491903898452,-3.2015497367865464e-05,-0.29320632338318986],"issued_joint_targets_rad":[-1.9855132750938371,-1.5821945257946763,1.316797605872553,-1.305427935875947,-1.5707935265495445,-0.41471696449947343],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.759999999998922,"joint_targets_rad":[-1.9855132750938371,-1.5821945257946763,1.316797605872553,-1.305427935875947,-1.5707935265495445,-0.41471696449947343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.77999999999891,"qpos":[-1.9855245776339083,-1.583377074502742,1.3221461440259208,-1.3098186540888457,-1.57078815772282,-0.4147229599521726,0.0029310496667665133,0.0001562259213375959,0.003191084991624031,-0.0034266697305932103,0.002931079411834459,0.00015633330407704258,0.003196012831895373,-0.0034352580235594826,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-8.289314673712708e-17,-5.572696067577795e-17,-1.5098022045517321e-07],"qvel":[3.823034103421239e-05,0.005809221700495365,-0.02711055159553704,0.022072153123759757,-2.70053654949472e-05,3.0282210061960728e-05,1.155603068957463e-05,3.434792337237143e-07,1.0911963831795873e-05,-1.1840089106736872e-05,1.1435044734288883e-05,-1.13683607799461e-07,8.459430892740056e-06,-1.2403071285548412e-05,6.892969790214602e-17,-1.0370703341465624e-16,6.6080694976592124e-15,3.4516204838393562e-15,2.2833473699860427e-15,-1.1023225543999914e-08],"joint_position_rad":[-1.9855245776339083,-1.583377074502742,1.3221461440259208,-1.3098186540888457,-1.57078815772282,-0.4147229599521726],"joint_velocity_rad_s":[3.823034103421239e-05,0.005809221700495365,-0.02711055159553704,0.022072153123759757,-2.70053654949472e-05,3.0282210061960728e-05],"linkage_position_rad":[0.0029310496667665133,0.0001562259213375959,0.003191084991624031,-0.0034266697305932103,0.002931079411834459,0.00015633330407704258,0.003196012831895373,-0.0034352580235594826],"tcp_position_m":[0.06811771394129354,0.48727994613356007,0.4334335079061866],"tcp_quaternion_wxyz":[-4.9677480874252634e-05,0.7071086457542276,0.7071049052637549,0.00011654915639467623],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-8.289314673712708e-17,-5.572696067577795e-17,-1.5098022045517321e-07],"object_linear_velocity_m_s":[6.892969790214602e-17,-1.0370703341465624e-16,6.6080694976592124e-15],"object_angular_velocity_rad_s":[3.4516211745483614e-15,2.2833463259055967e-15,-1.102322554399992e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313527891488674,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855132316567154,-1.5920829848235036,1.3066429874838013,-1.31025538304441,-1.5707922519705755,-0.4147169641977915,0.0],"actuator_force":[0.007399817971872835,-19.735509321721565,-20.162092446024417,-2.4255797901580536,0.0006534126716815081,-3.0343815637934313e-05,-0.2932214093071679],"issued_joint_targets_rad":[-1.9855129996574095,-1.5821899469483656,1.3167905120966195,-1.3054227349247438,-1.5707937876027227,-0.41471668813644635],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.77999999999891,"joint_targets_rad":[-1.9855129996574095,-1.5821899469483656,1.3167905120966195,-1.3054227349247438,-1.5707937876027227,-0.41471668813644635],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.7999999999989,"qpos":[-1.985523794043464,-1.5832662745849173,1.3216310986931665,-1.3093991823850168,-1.5707886951593586,-0.41472236006384927,0.0029312732577175095,0.00015623322586175682,0.0031912929576654015,-0.0034269012168657315,0.002931300155389579,0.00015633037047195337,0.0031961680921659364,-0.003435499728972904,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-6.873085245635178e-17,-5.229247061715807e-17,-1.514741165306501e-07],"qvel":[3.728397774853568e-05,0.005289266582570771,-0.024535344667604597,0.019989870740718306,-2.5612731379442413e-05,2.8648102351316645e-05,1.0690125931951296e-05,3.111968951035226e-07,1.00944215996206e-05,-1.0940175770455513e-05,1.0579938809214745e-05,-1.0478592626182861e-07,7.867579674855325e-06,-1.1446650229318072e-05,6.769717124368138e-17,-8.775926050168331e-17,6.6261106218093746e-15,2.6899465953843414e-15,1.834898605456952e-15,-2.0125626132199705e-08],"joint_position_rad":[-1.985523794043464,-1.5832662745849173,1.3216310986931665,-1.3093991823850168,-1.5707886951593586,-0.41472236006384927],"joint_velocity_rad_s":[3.728397774853568e-05,0.005289266582570771,-0.024535344667604597,0.019989870740718306,-2.5612731379442413e-05,2.8648102351316645e-05],"linkage_position_rad":[0.0029312732577175095,0.00015623322586175682,0.0031912929576654015,-0.0034269012168657315,0.002931300155389579,0.00015633037047195337,0.0031961680921659364,-0.003435499728972904],"tcp_position_m":[0.06811835821838753,0.48728198898931785,0.43358565380152003],"tcp_quaternion_wxyz":[-4.6669285027026364e-05,0.7071085815124342,0.7071049708297669,0.00010955037573379863],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-6.873085245635178e-17,-5.229247061715807e-17,-1.514741165306501e-07],"object_linear_velocity_m_s":[6.769717124368138e-17,-8.775926050168331e-17,6.6261106218093746e-15],"object_angular_velocity_rad_s":[2.6899471533683473e-15,1.834897787775798e-15,-2.012562613219972e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313526675491599,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855129641981792,-1.5920797497712758,1.3066368726087578,-1.310250147690627,-1.5707925148071684,-0.41471668785018917,0.0],"actuator_force":[0.006746099470547051,-19.742657005745514,-20.174314301775212,-2.4244697268768505,0.0006514492331461952,-2.870340506433422e-05,-0.29323502097906023],"issued_joint_targets_rad":[-1.9855127497182614,-1.5821859666755262,1.3167843090264597,-1.3054180777092843,-1.5707940245118703,-0.4147164372993421],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.7999999999989,"joint_targets_rad":[-1.9855127497182614,-1.5821859666755262,1.3167843090264597,-1.3054180777092843,-1.5707940245118703,-0.4147164372993421],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.819999999998888,"qpos":[-1.985523034340282,-1.583165409493278,1.32116499646331,-1.3090192895054555,-1.5707892038450375,-0.4147217935150735,0.002931479708184872,0.00015623982364733097,0.0031914852045836065,-0.003427114562040494,0.0029315040293397556,0.00015632769785311974,0.003196312598778567,-0.003435722343495639,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-5.441853430559984e-17,-4.9612464343656874e-17,-1.5190264313121465e-07],"qvel":[3.6196643100153165e-05,0.004814785333082209,-0.02220381538430708,0.018103766408453306,-2.424348001478605e-05,2.7053462500140982e-05,9.861764708412315e-06,2.818781238045764e-07,9.312253253810592e-06,-1.0082224973453674e-05,9.761483406946925e-06,-9.641677992233585e-08,7.290923802584714e-06,-1.0538196553582363e-05,7.186508700313811e-17,-7.665853002241647e-17,6.678846215479071e-15,1.1303019055939984e-15,6.71361543099877e-16,-3.674431096382252e-08],"joint_position_rad":[-1.985523034340282,-1.583165409493278,1.32116499646331,-1.3090192895054555,-1.5707892038450375,-0.4147217935150735],"joint_velocity_rad_s":[3.6196643100153165e-05,0.004814785333082209,-0.02220381538430708,0.018103766408453306,-2.424348001478605e-05,2.7053462500140982e-05],"linkage_position_rad":[0.002931479708184872,0.00015623982364733097,0.0031914852045836065,-0.003427114562040494,0.0029315040293397556,0.00015632769785311974,0.003196312598778567,-0.003435722343495639],"tcp_position_m":[0.06811893609730843,0.4872838712249151,0.433723013518556],"tcp_quaternion_wxyz":[-4.3777814275389315e-05,0.7071085138604396,0.7071050396788412,0.00010281229203117567],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-5.441853430559984e-17,-4.9612464343656874e-17,-1.5190264313121465e-07],"object_linear_velocity_m_s":[7.186508700313811e-17,-7.665853002241647e-17,6.678846215479071e-15],"object_angular_velocity_rad_s":[1.130302113203084e-15,6.71361195709009e-16,-3.674431096382255e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313525538472625,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855127207715084,-1.5920770000693572,1.3066315565093394,-1.310245455014157,-1.5707927534047503,-0.41471643702852196,0.0],"actuator_force":[0.00614848030727444,-19.749095285390922,-20.18535375421834,-2.423459395196005,0.000649568145036028,-2.7102974257786627e-05,-0.2932473031168082],"issued_joint_targets_rad":[-1.9855125229531494,-1.5821824980880148,1.3167788725707958,-1.305413903689807,-1.570794239475372,-0.41471620966820144],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.819999999998888,"joint_targets_rad":[-1.9855125229531494,-1.5821824980880148,1.3167788725707958,-1.305413903689807,-1.570794239475372,-0.41471620966820144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.839999999998877,"qpos":[-1.985522300548272,-1.5830736072430642,1.320743202523819,-1.3086752455795498,-1.5707896844387226,-0.41472125934523396,0.002931669852339472,0.0001562457833830315,0.0031916624446449975,-0.0034273107392556275,0.00293169184218439,0.00015632526408327165,0.003196446598800649,-0.003435926928140029,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-4.045400003904927e-17,-3.958213507659362e-17,-1.5229648682829795e-07],"qvel":[3.500009254376949e-05,0.004381985058467447,-0.020093081243684252,0.01639540220914546,-2.290537947896528e-05,2.550515661312947e-05,9.075743833427487e-06,2.552637411384045e-07,8.570012929380629e-06,-9.270406932129894e-06,8.984535567403508e-06,-8.85803896543813e-08,6.73571463975117e-06,-9.681184173981929e-06,6.470621862053382e-17,-5.437250764937325e-17,6.712152906217829e-15,1.0402960535431558e-15,3.3226074584799324e-16,-6.708583272577164e-08],"joint_position_rad":[-1.985522300548272,-1.5830736072430642,1.320743202523819,-1.3086752455795498,-1.5707896844387226,-0.41472125934523396],"joint_velocity_rad_s":[3.500009254376949e-05,0.004381985058467447,-0.020093081243684252,0.01639540220914546,-2.290537947896528e-05,2.550515661312947e-05],"linkage_position_rad":[0.002931669852339472,0.0001562457833830315,0.0031916624446449975,-0.0034273107392556275,0.00293169184218439,0.00015632526408327165,0.003196446598800649,-0.003435926928140029],"tcp_position_m":[0.0681194538166377,0.48728560421295336,0.43384702505971745],"tcp_quaternion_wxyz":[-4.1008731877515777e-05,0.7071084438570141,0.7071051107586472,9.635038357223151e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-4.045400003904927e-17,-3.958213507659362e-17,-1.5229648682829795e-07],"object_linear_velocity_m_s":[6.470621862053382e-17,-5.437250764937325e-17,6.712152906217829e-15],"object_angular_velocity_rad_s":[1.0402961600581973e-15,3.3226042355332837e-16,-6.70858327257717e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313524479976946,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855124993226372,-1.5920746577822482,1.3066269235654133,-1.310241245121546,-1.5707929699637977,-0.4147162094126522,0.0],"actuator_force":[0.005602414252280141,-19.75489510175521,-20.195325419337678,-2.422539991912572,0.0006477754103570987,-2.554937040599725e-05,-0.29325838612319727],"issued_joint_targets_rad":[-1.9855123172437885,-1.5821794680488888,1.3167740975801987,-1.3054101596399743,-1.5707944344977587,-0.41471600312706586],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.839999999998877,"joint_targets_rad":[-1.9855123172437885,-1.5821794680488888,1.3167740975801987,-1.3054101596399743,-1.5707944344977587,-0.41471600312706586],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.859999999998866,"qpos":[-1.9855215941680566,-1.5829900691531529,1.3203615179551595,-1.3083636714701203,-1.5707901377269564,-0.41472075648202594,0.002931844593978989,0.0001562511670278368,0.003191825468785021,-0.0034274907702708563,0.002931864474464911,0.00015632304870322032,0.003196570461089125,-0.0034361145844714817,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-2.6047357901945127e-17,-2.7962687790069824e-17,-1.5255095937166266e-07],"qvel":[3.372188352981731e-05,0.0039873556765357586,-0.018182376115789,0.014848065518160298,-2.1604566622459824e-05,2.4008456130425325e-05,8.334864329251768e-06,2.311148944209774e-07,7.870364138692451e-06,-8.506991875487593e-06,8.25195527844939e-06,-8.127111406983731e-08,6.206189521621294e-06,-8.877278175854032e-06,3.6051107210067215e-17,-3.36621652135635e-17,5.861444513598802e-15,1.4943806780133652e-15,1.2264806315625487e-15,-7.268200598720788e-09],"joint_position_rad":[-1.9855215941680566,-1.5829900691531529,1.3203615179551595,-1.3083636714701203,-1.5707901377269564,-0.41472075648202594],"joint_velocity_rad_s":[3.372188352981731e-05,0.0039873556765357586,-0.018182376115789,0.014848065518160298,-2.1604566622459824e-05,2.4008456130425325e-05],"linkage_position_rad":[0.002931844593978989,0.0001562511670278368,0.003191825468785021,-0.0034274907702708563,0.002931864474464911,0.00015632304870322032,0.003196570461089125,-0.0034361145844714817],"tcp_position_m":[0.06811991711590731,0.48728719872639575,0.43395898645080355],"tcp_quaternion_wxyz":[-3.836549424941603e-05,0.7071083724159647,0.7071051831629226,9.017462640077552e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-2.6047357901945127e-17,-2.7962687790069824e-17,-1.5255095937166266e-07],"object_linear_velocity_m_s":[3.6051107210067215e-17,-3.36621652135635e-17,5.861444513598802e-15],"object_angular_velocity_rad_s":[1.4943810526213679e-15,1.2264801752454457e-15,-7.268200598720796e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313523498274258,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855122979530189,-1.5920726581225173,1.3066228763482202,-1.3102374652961535,-1.5707931664913735,-0.414716002886483,0.0],"actuator_force":[0.005103676664020895,-19.760120209343313,-20.2043327675633,-2.4217034648326035,0.0006460744536980201,-2.4047841577612417e-05,-0.2932683875202335],"issued_joint_targets_rad":[-1.9855121306600134,-1.58217681486214,1.3167698947588462,-1.3054067986833537,-1.5707946114056313,-0.4147158157473027],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.859999999998866,"joint_targets_rad":[-1.9855121306600134,-1.58217681486214,1.3167698947588462,-1.3054067986833537,-1.5707946114056313,-0.4147158157473027],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.879999999998855,"qpos":[-1.9855209162457716,-1.582914064268518,1.3200161392939673,-1.3080815059232789,-1.570790564594779,-0.4147202837701932,0.0029320048724626817,0.00015625603047966557,0.0031919751121581457,-0.0034276556947917098,0.002932022844475454,0.00015632103284339726,0.0031966846379224718,-0.003436286424676666,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,-8.357019054428205e-18,-1.886525807068678e-17,-1.5301556197352604e-07],"qvel":[3.238579290550744e-05,0.0036276553394856462,-0.016452860471630266,0.013446608854237076,-2.0345777669885616e-05,2.2567267255491405e-05,7.640402346619295e-06,2.092118688803088e-07,7.214525562215059e-06,-7.79280617183359e-06,7.5650757298401645e-06,-7.447590412268926e-08,5.705023459253283e-06,-8.126775777432331e-06,2.4117025179302362e-17,-1.418451123258465e-17,5.740707759670817e-15,1.0358428698805343e-15,9.209391849839142e-16,-1.3269898844021023e-08],"joint_position_rad":[-1.9855209162457716,-1.582914064268518,1.3200161392939673,-1.3080815059232789,-1.570790564594779,-0.4147202837701932],"joint_velocity_rad_s":[3.238579290550744e-05,0.0036276553394856462,-0.016452860471630266,0.013446608854237076,-2.0345777669885616e-05,2.2567267255491405e-05],"linkage_position_rad":[0.0029320048724626817,0.00015625603047966557,0.0031919751121581457,-0.0034276556947917098,0.002932022844475454,0.00015632103284339726,0.0031966846379224718,-0.003436286424676666],"tcp_position_m":[0.06812033125983358,0.4872886649313019,0.43406006938383146],"tcp_quaternion_wxyz":[-3.58497284294875e-05,0.7071083003200516,0.7071052561170847,8.429042539484677e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,-8.357019054428205e-18,-1.886525807068678e-17,-1.5301556197352604e-07],"object_linear_velocity_m_s":[2.4117025179302362e-17,-1.418451123258465e-17,5.740707759670817e-15],"object_angular_velocity_rad_s":[1.0358431522172209e-15,9.209388677619207e-16,-1.3269898844021038e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313522590722918,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855121149118655,-1.5920709471606533,1.30661933259297,-1.3102340690588459,-1.5707933448169509,-0.4147158155212767,0.0],"actuator_force":[0.00464835065031366,-19.764827920065272,-20.2124692133425,-2.4209424532072035,0.0006444666810239141,-2.2602267307547663e-05,-0.2932774132372891],"issued_joint_targets_rad":[-1.9855119614440855,-1.5821744863647118,1.3167661881000452,-1.3054037794662192,-1.5707947718624935,-0.4147156457720566],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.879999999998855,"joint_targets_rad":[-1.9855119614440855,-1.5821744863647118,1.3167661881000452,-1.3054037794662192,-1.5707947718624935,-0.4147156457720566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.899999999998844,"qpos":[-1.9855202674355996,-1.5828449240946427,1.319703621744619,-1.3078259757728392,-1.5707909660007762,-0.41471983999601775,0.0029321516369006173,0.00015626042417648378,0.0031921122278911053,-0.003427806547481066,0.0029321678822482188,0.00015631919913133531,0.0031967896351826454,-0.0034364435492235455,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,2.7691240210179e-18,-8.102431706031961e-18,-1.534823460300758e-07],"qvel":[3.101220900732008e-05,0.003299895185389887,-0.014887447523172852,0.012177304380363784,-1.9132551279579765e-05,2.1184333214260653e-05,6.992484086994007e-06,1.8935292732048104e-07,6.602626329652654e-06,-7.127593414971789e-06,6.924077745758615e-06,-6.817662794818285e-08,5.233689248715575e-06,-7.428958776580486e-06,9.942186975725378e-18,-4.917467163120199e-19,5.699074396247372e-15,6.217855313899075e-16,8.172037967340642e-16,-2.4227484222368533e-08],"joint_position_rad":[-1.9855202674355996,-1.5828449240946427,1.319703621744619,-1.3078259757728392,-1.5707909660007762,-0.41471983999601775],"joint_velocity_rad_s":[3.101220900732008e-05,0.003299895185389887,-0.014887447523172852,0.012177304380363784,-1.9132551279579765e-05,2.1184333214260653e-05],"linkage_position_rad":[0.0029321516369006173,0.00015626042417648378,0.0031921122278911053,-0.003427806547481066,0.0029321678822482188,0.00015631919913133531,0.0031967896351826454,-0.0034364435492235455],"tcp_position_m":[0.06812070106488972,0.48729001238955144,0.43415133152753194],"tcp_quaternion_wxyz":[-3.346155652649576e-05,0.7071082282342512,0.707105328964606,7.869941472896056e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,2.7691240210179e-18,-8.102431706031961e-18,-1.534823460300758e-07],"object_linear_velocity_m_s":[9.942186975725378e-18,-4.917467163120199e-19,5.699074396247372e-15],"object_angular_velocity_rad_s":[6.217857826351941e-16,8.172036060020005e-16,-2.4227484222368566e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313521754055049,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855119485878656,-1.5920694799413153,1.3066162226913605,-1.3102310153609271,-1.570793506607162,-0.41471564556009965,0.0],"actuator_force":[0.004232811865222175,-19.769069767501605,-20.219819097247637,-2.4202502320803205,0.0006429519351058843,-2.1215362352222655e-05,-0.29328555876660556],"issued_joint_targets_rad":[-1.9855118079961196,-1.5821724383494253,1.3167629127550529,-1.305401065446653,-1.5707949173825364,-0.41471549160178683],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.899999999998844,"joint_targets_rad":[-1.9855118079961196,-1.5821724383494253,1.3167629127550529,-1.305401065446653,-1.5707949173825364,-0.41471549160178683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.919999999998833,"qpos":[-1.985519648056244,-1.5827820376505073,1.3194208457290635,-1.3075945689189854,-1.57079134295583,-0.41471942390807176,0.002932285826899828,0.0001562643936358987,0.003192237667363912,-0.0034279443410535878,0.002932300510114323,0.00015631753159870568,0.003196885989375605,-0.003436587030569763,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,3.3412185485357055e-17,-9.152610112548232e-18,-1.5387844867913776e-07],"qvel":[2.961849664975412e-05,0.003001323837676344,-0.013470644149023697,0.011027711749555877,-1.7967407014882643e-05,1.9861412142452516e-05,6.3903833726779475e-06,1.713531360149688e-07,6.033988066970122e-06,-6.510301552058993e-06,6.32828706157484e-06,-6.235142188451931e-08,4.7927466805529116e-06,-6.782368331984079e-06,1.806295515332085e-17,6.464004530306919e-17,5.654665475262365e-15,3.414590779531165e-15,-4.846712312516104e-16,-4.4233267988294987e-08],"joint_position_rad":[-1.985519648056244,-1.5827820376505073,1.3194208457290635,-1.3075945689189854,-1.57079134295583,-0.41471942390807176],"joint_velocity_rad_s":[2.961849664975412e-05,0.003001323837676344,-0.013470644149023697,0.011027711749555877,-1.7967407014882643e-05,1.9861412142452516e-05],"linkage_position_rad":[0.002932285826899828,0.0001562643936358987,0.003192237667363912,-0.0034279443410535878,0.002932300510114323,0.00015631753159870568,0.003196885989375605,-0.003436587030569763],"tcp_position_m":[0.06812103092712388,0.48729125006916174,0.4342337276360474],"tcp_quaternion_wxyz":[-3.1199873993814066e-05,0.7071081567182421,0.707105401154252,7.340014462454343e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,3.3412185485357055e-17,-9.152610112548232e-18,-1.5387844867913776e-07],"object_linear_velocity_m_s":[1.806295515332085e-17,6.464004530306919e-17,5.654665475262365e-15],"object_angular_velocity_rad_s":[3.4145906311797944e-15,-4.846722791595921e-16,-4.423326798829505e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313520984598263,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855117975006642,-1.5920682189331854,1.3066134876135704,-1.3102282678899704,-1.570793653379509,-0.4147154914033552,0.0],"actuator_force":[0.003853712499676476,-19.77289210042636,-20.226458571376952,-2.419620660448004,0.0006415288619336934,-1.9888855973704267e-05,-0.2932929102028788],"issued_joint_targets_rad":[-1.985511668860582,-1.582170633260192,1.3167600132603612,-1.3053986242828128,-1.5707950493434046,-0.41471535178087804],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.919999999998833,"joint_targets_rad":[-1.985511668860582,-1.582170633260192,1.3167600132603612,-1.3053986242828128,-1.5707950493434046,-0.41471535178087804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.939999999998822,"qpos":[-1.9855190581416318,-1.5827248468398993,1.3191649864875503,-1.3073850098260165,-1.5707916965051358,-0.4147190342346898,0.002932408358497055,0.0001562679799403481,0.0031923522656638827,-0.0034280700541611695,0.0029324216284680967,0.0001563160155879416,0.003196974250113487,-0.0034367179015972154,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,4.7300621293765207e-17,-9.19145198583333e-18,-1.542271149921029e-07],"qvel":[2.8219334320161075e-05,0.00272941196973312,-0.012188405518699028,0.00998655810113941,-1.685200176856661e-05,1.859943298022902e-05,5.832756609266109e-06,1.5504326614566368e-07,5.507347118122842e-06,-5.939308867603197e-06,5.776409083035899e-06,-5.697619393739526e-08,4.382070154920375e-06,-6.185026123980169e-06,1.2876909816176692e-17,1.147238624879394e-16,5.572786527196258e-15,4.061988328346564e-15,-2.3862998229046267e-17,-8.075877705526226e-08],"joint_position_rad":[-1.9855190581416318,-1.5827248468398993,1.3191649864875503,-1.3073850098260165,-1.5707916965051358,-0.4147190342346898],"joint_velocity_rad_s":[2.8219334320161075e-05,0.00272941196973312,-0.012188405518699028,0.00998655810113941,-1.685200176856661e-05,1.859943298022902e-05],"linkage_position_rad":[0.002932408358497055,0.0001562679799403481,0.0031923522656638827,-0.0034280700541611695,0.0029324216284680967,0.0001563160155879416,0.003196974250113487,-0.0034367179015972154],"tcp_position_m":[0.06812132485040323,0.48729238636027694,0.43430811957352733],"tcp_quaternion_wxyz":[-2.906258772125484e-05,0.7071080862380521,0.7071054722282346,6.838866919080841e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,4.7300621293765207e-17,-9.19145198583333e-18,-1.542271149921029e-07],"object_linear_velocity_m_s":[1.2876909816176692e-17,1.147238624879394e-16,5.572786527196258e-15],"object_angular_velocity_rad_s":[4.061988322470316e-15,-2.3864243526646765e-17,-8.075877705526238e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313520278446646,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855116602922995,-1.5920671327526963,1.3066110771849653,-1.3102257944719784,-1.57079378651507,-0.41471535159538986,0.0],"actuator_force":[0.0035079649369436083,-19.776336613487274,-20.232456397690385,-2.419048133094975,0.0006401952098258334,-1.8623648060156484e-05,-0.29329954517671913],"issued_joint_targets_rad":[-1.9855115427138221,-1.5821690391113927,1.316757442061646,-1.3053964273057785,-1.570795168997989,-0.41471522498524904],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.939999999998822,"joint_targets_rad":[-1.9855115427138221,-1.5821690391113927,1.316757442061646,-1.3053964273057785,-1.570795168997989,-0.41471522498524904],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.95999999999881,"qpos":[-1.9855184974861937,-1.5826728421356404,1.3189334864647062,-1.307195237306932,-1.5707920277130587,-0.41471866969857557,0.0029325201141739603,0.0001562712201737031,0.0031924568311190895,-0.0034281846230378495,0.002932532105629308,0.00015631463766161511,0.0031970549669425355,-0.0034368371477617793,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,4.772718404413983e-17,-7.063931913045031e-18,-1.5453345227020274e-07],"qvel":[2.6827023608972974e-05,0.002481837169925014,-0.011028002374430336,0.0090436291153633,-1.5787266576841696e-05,1.7398631845526395e-05,5.317827341952802e-06,1.4026855632399304e-07,5.021029453142849e-06,-5.412601137985749e-06,5.2667133637379565e-06,-5.2025490877896805e-08,4.001030651843241e-06,-5.634602911715996e-06,7.63648028992523e-18,5.705918342512444e-17,5.504785366937968e-15,-1.7627653837155168e-15,1.6073600728547564e-16,-8.749552146791998e-09],"joint_position_rad":[-1.9855184974861937,-1.5826728421356404,1.3189334864647062,-1.307195237306932,-1.5707920277130587,-0.41471866969857557],"joint_velocity_rad_s":[2.6827023608972974e-05,0.002481837169925014,-0.011028002374430336,0.0090436291153633,-1.5787266576841696e-05,1.7398631845526395e-05],"linkage_position_rad":[0.0029325201141739603,0.0001562712201737031,0.0031924568311190895,-0.0034281846230378495,0.002932532105629308,0.00015631463766161511,0.0031970549669425355,-0.0034368371477617793],"tcp_position_m":[0.06812158647445477,0.487293429095266,0.43437528536070347],"tcp_quaternion_wxyz":[-2.7046819190567873e-05,0.707108017176828,0.7071055418112977,6.36590482841599e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,4.772718404413983e-17,-7.063931913045031e-18,-1.5453345227020274e-07],"object_linear_velocity_m_s":[7.63648028992523e-18,5.705918342512444e-17,5.504785366937968e-15],"object_angular_velocity_rad_s":[-1.7627653339136428e-15,1.6073655293309174e-16,-8.749552146792013e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519631591118,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855115357187685,-1.592066195112664,1.3066089486558337,-1.3102235665557649,-1.57079390727024,-0.41471522481209916,0.0],"actuator_force":[0.003192725406734098,-19.779440822017023,-20.237874667972847,-2.4185275359526486,0.0006389480671487036,-1.7419946345853532e-05,-0.2933055336936919],"issued_joint_targets_rad":[-1.9855114283525737,-1.5821676285918744,1.3167551582832833,-1.3053944490645646,-1.5707952774853022,-0.4147151100109299],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.95999999999881,"joint_targets_rad":[-1.9855114283525737,-1.5821676285918744,1.3167551582832833,-1.3053944490645646,-1.5707952774853022,-0.4147151100109299],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.9799999999988,"qpos":[-1.985517965685081,-1.5826255585676194,1.3187240302361367,-1.307023384383621,-1.570792337650485,-0.4147183290289072,0.0029326219360661498,0.0001562741478140887,0.003192552138035363,-0.0034282889360667227,0.0029326327709132596,0.0001563133855144093,0.0031971286796127897,-0.0034369457021227413,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,6.302051534227113e-17,-7.85577382057742e-18,-1.550306924015005e-07],"qvel":[2.5451771573809324e-05,0.002256469277722571,-0.009977899981672096,0.008189670128499473,-1.4773525929450839e-05,1.625867088539516e-05,4.8435304216041916e-06,1.268877098779352e-07,4.573087347546342e-06,-4.92790849942631e-06,4.797177748540377e-06,-4.747326949476285e-08,3.6486382395456197e-06,-5.128551183923893e-06,1.0825635629855131e-17,7.58716792308533e-17,5.404865294721705e-15,-1.660504812937813e-15,2.4639992198937634e-16,-1.5974472682940894e-08],"joint_position_rad":[-1.985517965685081,-1.5826255585676194,1.3187240302361367,-1.307023384383621,-1.570792337650485,-0.4147183290289072],"joint_velocity_rad_s":[2.5451771573809324e-05,0.002256469277722571,-0.009977899981672096,0.008189670128499473,-1.4773525929450839e-05,1.625867088539516e-05],"linkage_position_rad":[0.0029326219360661498,0.0001562741478140887,0.003192552138035363,-0.0034282889360667227,0.0029326327709132596,0.0001563133855144093,0.0031971286796127897,-0.0034369457021227413],"tcp_position_m":[0.06812181910225525,0.48729438557170307,0.4344359273391255],"tcp_quaternion_wxyz":[-2.5149077293446294e-05,0.7071079498447271,0.7071056096007323,5.9203774733566385e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,6.302051534227113e-17,-7.85577382057742e-18,-1.550306924015005e-07],"object_linear_velocity_m_s":[1.0825635629855131e-17,7.58716792308533e-17,5.404865294721705e-15],"object_angular_velocity_rad_s":[-1.6605047362876513e-15,2.464004388612257e-16,-1.5974472682940923e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313519040017612,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985511422641821,-1.5920653839556311,1.3066070655132103,-1.3102215587675305,-1.5707940167875618,-0.41471510984950133,0.0],"actuator_force":[0.0029053778907837113,-19.78223848711241,-20.242769453183882,-2.418054204804662,0.0006377840545610525,-1.627738561182923e-05,-0.2933109388898212],"issued_joint_targets_rad":[-1.9855113246833742,-1.582166378321112,1.3167531267012826,-1.305392666932748,-1.570795375840483,-0.4147150057635424],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.9799999999988,"joint_targets_rad":[-1.9855113246833742,-1.582166378321112,1.3167531267012826,-1.305392666932748,-1.570795375840483,-0.4147150057635424],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.999999999998789,"qpos":[-1.9855174621697174,-1.582582572002858,1.31853452175032,-1.3068677600305396,-1.5707926273843291,-0.41471801097127053,0.0029327146216529313,0.00015627679308714907,0.0031926389219222836,-0.003428383830613728,0.002932724410194463,0.00015631224788889437,0.0031971959110660853,-0.0034370444425822844,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,7.776366966800161e-17,-2.808151151594154e-17,-1.5546944946122425e-07],"qvel":[2.410194708335978e-05,0.0020513563103924377,-0.009027647814530202,0.007416296397182599,-1.3810601624265573e-05,1.517874158643051e-05,4.407623596205015e-06,1.1477185528215982e-07,4.161404902239177e-06,-4.482813251508905e-06,4.365600005104652e-06,-4.329353854882207e-08,3.323653910899734e-06,-4.6642066569703726e-06,4.331203188408358e-17,1.0648128626438479e-16,5.370170825202168e-15,-4.0628620106705663e-16,-7.750718534246436e-16,-2.916535306227984e-08],"joint_position_rad":[-1.9855174621697174,-1.582582572002858,1.31853452175032,-1.3068677600305396,-1.5707926273843291,-0.41471801097127053],"joint_velocity_rad_s":[2.410194708335978e-05,0.0020513563103924377,-0.009027647814530202,0.007416296397182599,-1.3810601624265573e-05,1.517874158643051e-05],"linkage_position_rad":[0.0029327146216529313,0.00015627679308714907,0.0031926389219222836,-0.003428383830613728,0.002932724410194463,0.00015631224788889437,0.0031971959110660853,-0.0034370444425822844],"tcp_position_m":[0.06812202572643943,0.4872952625772345,0.43449067953930315],"tcp_quaternion_wxyz":[-2.3365404829177566e-05,0.7071078844879443,0.7071056753572874,5.501413681497164e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,7.776366966800161e-17,-2.808151151594154e-17,-1.5546944946122425e-07],"object_linear_velocity_m_s":[4.331203188408358e-17,1.0648128626438479e-16,5.370170825202168e-15],"object_angular_velocity_rad_s":[-4.062864404290114e-16,-7.750717225584142e-16,-2.91653530622799e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313518499779615,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855113200210666,-1.5920646807389853,1.3066053964928042,-1.3102197485254186,-1.5707941161056973,-0.4147150056132157,0.0],"actuator_force":[0.0026435184686306457,-19.78475999641205,-20.24719138921955,-2.4176238871576743,0.0006366994782638358,-1.5195131254586158e-05,-0.2933158177103763],"issued_joint_targets_rad":[-1.9855112307128502,-1.5821652682308556,1.3167513168847778,-1.3053910607677504,-1.5707954650039877,-0.41471491124863474],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.999999999998789,"joint_targets_rad":[-1.9855112307128502,-1.5821652682308556,1.3167513168847778,-1.3053910607677504,-1.5707954650039877,-0.41471491124863474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.019999999998777,"qpos":[-1.9855169862390627,-1.5825434957040685,1.3183630636789265,-1.3067268326272528,-1.5707928979689272,-0.41471771429570947,0.002932798921357147,0.00015627918328446665,0.00319271787665091,-0.0034284700915804297,0.0029328077633920214,0.0001563112144950899,0.0031972571625502088,-0.0034371341908277925,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999889,6.463620372152033e-17,-5.175338296333817e-17,-1.558853583974747e-07],"qvel":[2.2784312424254413e-05,0.0018647110596891367,-0.008167779099445199,0.006715911680420234,-1.2897902809498816e-05,1.4157654259098264e-05,4.0077731487415955e-06,1.038035345595535e-07,3.7837789878881066e-06,-4.074830990630408e-06,3.969683541854283e-06,-3.946074214558393e-08,3.0246765206353357e-06,-4.238866509334957e-06,9.636632140032997e-17,9.768077451868745e-17,5.349354143490446e-15,-1.4226493052686966e-15,-3.374446466865757e-15,-5.324856952278607e-08],"joint_position_rad":[-1.9855169862390627,-1.5825434957040685,1.3183630636789265,-1.3067268326272528,-1.5707928979689272,-0.41471771429570947],"joint_velocity_rad_s":[2.2784312424254413e-05,0.0018647110596891367,-0.008167779099445199,0.006715911680420234,-1.2897902809498816e-05,1.4157654259098264e-05],"linkage_position_rad":[0.002932798921357147,0.00015627918328446665,0.00319271787665091,-0.0034284700915804297,0.0029328077633920214,0.0001563112144950899,0.0031972571625502088,-0.0034371341908277925],"tcp_position_m":[0.06812220905451048,0.48729606641556034,0.4345401143305589],"tcp_quaternion_wxyz":[-2.169150219929583e-05,0.7071078212969054,0.70710573889695,5.108052464126089e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999889,6.463620372152033e-17,-5.175338296333817e-17,-1.558853583974747e-07],"object_linear_velocity_m_s":[9.636632140032997e-17,9.768077451868745e-17,5.349354143490446e-15],"object_angular_velocity_rad_s":[-1.4226503518106356e-15,-3.3744460164416368e-15,-5.3248569522786175e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351800705068,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985511226906454,-1.5920640698448152,1.306603914756355,-1.3102181157053552,-1.5707942061685876,-0.41471491110879555,0.0],"actuator_force":[0.002404940247288323,-19.787032705369256,-20.25118620536432,-2.4172327070931487,0.0006356904507356376,-1.4171968956588898e-05,-0.2933202215209114],"issued_joint_targets_rad":[-1.9855111455388001,-1.5821642810503331,1.316749702477309,-1.3053896126151712,-1.570795545830019,-0.4147148255628054],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.019999999998777,"joint_targets_rad":[-1.9855111455388001,-1.5821642810503331,1.316749702477309,-1.3053896126151712,-1.570795545830019,-0.4147148255628054],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.039999999998766,"qpos":[-1.985516537086973,-1.5825079771520751,1.3182079386858996,-1.3065992149611385,-1.5707931504390502,-0.41471743780315046,0.0029328755375995445,0.00015628134305057157,0.003192789653086353,-0.003428548451255639,0.0029328835234202037,0.00015631027593481623,0.0031973129103996484,-0.0034372157125249904,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,4.4685668625923836e-17,-5.412707485868765e-17,-1.561841664419511e-07],"qvel":[2.1504231741845114e-05,0.001694898406952655,-0.007389719397530249,0.006081634380774686,-1.2034503904775769e-05,1.3193915321160994e-05,3.6416188928492597e-06,9.38758273661662e-08,3.437981210559074e-06,-3.7014702846418797e-06,3.607102510791448e-06,-3.595003269311987e-08,2.750210178140122e-06,-3.849845887870739e-06,1.2371808979708211e-16,8.95587991186478e-17,6.0376924187580435e-15,1.3346503585725089e-15,-3.6119060376798424e-15,-9.721844101005338e-08],"joint_position_rad":[-1.985516537086973,-1.5825079771520751,1.3182079386858996,-1.3065992149611385,-1.5707931504390502,-0.41471743780315046],"joint_velocity_rad_s":[2.1504231741845114e-05,0.001694898406952655,-0.007389719397530249,0.006081634380774686,-1.2034503904775769e-05,1.3193915321160994e-05],"linkage_position_rad":[0.0029328755375995445,0.00015628134305057157,0.003192789653086353,-0.003428548451255639,0.0029328835234202037,0.00015631027593481623,0.0031973129103996484,-0.0034372157125249904],"tcp_position_m":[0.06812237153270115,0.4872968029329163,0.4345847484227597],"tcp_quaternion_wxyz":[-2.012283137725746e-05,0.7071077604136645,0.7071058000835345,4.739268803658172e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,4.4685668625923836e-17,-5.412707485868765e-17,-1.561841664419511e-07],"object_linear_velocity_m_s":[1.2371808979708211e-16,8.95587991186478e-17,6.0376924187580435e-15],"object_angular_velocity_rad_s":[1.3346492408516772e-15,-3.611906445893633e-15,-9.721844101005338e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351755816087,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855111424311456,-1.5920635380923187,1.3066025972058466,-1.310216642350805,-1.570794287833858,-0.4147148254328501,0.0],"actuator_force":[0.0021876189580325445,-19.7890812432679,-20.254795201093657,-2.4168771329105994,0.0006347529864569879,-1.320638193647028e-05,-0.29332419665800563],"issued_joint_targets_rad":[-1.9855110683420312,-1.5821634018770003,1.3167482605941387,-1.3053883064517178,-1.5707956190942496,-0.4147147478855788],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.039999999998766,"joint_targets_rad":[-1.9855110683420312,-1.5821634018770003,1.3167482605941387,-1.3053883064517178,-1.5707956190942496,-0.4147147478855788],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.059999999998755,"qpos":[-1.9855161138260244,-1.5824756951168633,1.3180675924416345,-1.3064836506360846,-1.5707933858043224,-0.41471718033042765,0.002932945124944749,0.0001562832946410004,0.0031928548588323136,-0.0034286195901399937,0.002932952336240311,0.00015630942363062966,0.0031973636040954225,-0.0034372897184536586,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,3.6870735683677673e-17,-5.1308999245319455e-17,-1.5655293914612113e-07],"qvel":[2.0265857860732798e-05,0.0015404233807856734,-0.006685703462355339,0.005507230553363352,-1.1219211782657743e-05,1.228579372075649e-05,3.306822560610361e-06,8.489141744745e-08,3.1218034255780317e-06,-3.3602802607259612e-06,3.2755503278365348e-06,-3.2737582974230526e-08,2.4987154509651807e-06,-3.494520230845215e-06,6.245923904064584e-17,4.648177471738222e-17,6.270839253929325e-15,-1.6662256265830727e-15,2.05812570224756e-15,-1.0532821945347893e-08],"joint_position_rad":[-1.9855161138260244,-1.5824756951168633,1.3180675924416345,-1.3064836506360846,-1.5707933858043224,-0.41471718033042765],"joint_velocity_rad_s":[2.0265857860732798e-05,0.0015404233807856734,-0.006685703462355339,0.005507230553363352,-1.1219211782657743e-05,1.228579372075649e-05],"linkage_position_rad":[0.002932945124944749,0.0001562832946410004,0.0031928548588323136,-0.0034286195901399937,0.002932952336240311,0.00015630942363062966,0.0031973636040954225,-0.0034372897184536586],"tcp_position_m":[0.06812251536841415,0.48729747754458475,0.4346250482832006],"tcp_quaternion_wxyz":[-1.8654702838106187e-05,0.7071077019385563,0.7071058588220407,4.3939952497888804e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,3.6870735683677673e-17,-5.1308999245319455e-17,-1.5655293914612113e-07],"object_linear_velocity_m_s":[6.245923904064584e-17,4.648177471738222e-17,6.270839253929325e-15],"object_angular_velocity_rad_s":[-1.6662249810908783e-15,2.058126224729203e-15,-1.0532821945347893e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351714962113,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855110658048156,-1.5920630743345852,1.306601423911002,-1.3102153124201743,-1.5707943618805242,-0.414714747764919,0.0],"actuator_force":[0.001989699273053702,-19.790927787757482,-20.258055676322783,-2.416553947381203,0.0006338830772847359,-1.2296617768470242e-05,-0.29332778492369527],"issued_joint_targets_rad":[-1.985510998378886,-1.5821626178180075,1.3167469713159465,-1.305387127961243,-1.5707956855008867,-0.4147146774719587],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.059999999998755,"joint_targets_rad":[-1.985510998378886,-1.5821626178180075,1.3167469713159465,-1.305387127961243,-1.5707956855008867,-0.4147146774719587],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.079999999998744,"qpos":[-1.9855157155081467,-1.5824463569618623,1.3179406182234512,-1.3063790017562227,-1.5707936050448414,-0.4147169407541109,0.002933008291051967,0.00015628505815540008,0.003192914058808058,-0.0034286841384605516,0.0029330148017259776,0.0001563086497584746,0.00319740966530877,-0.003437356866311847,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,2.7200917437532328e-17,-5.39570130402446e-17,-1.570248626681193e-07],"qvel":[1.9072299131287126e-05,0.0013999199633809634,-0.006048699665004544,0.004987053152748553,-1.045062347750644e-05,1.1431377880034028e-05,3.001103327182279e-06,7.67618732453514e-08,2.833091585740072e-06,-3.0488816878878907e-06,2.9727753289342735e-06,-2.980069760809764e-08,2.2686477343593172e-06,-3.1703576560044337e-06,6.824946669701748e-17,3.653832665853618e-17,6.355493759556993e-15,-1.1126509374248944e-15,1.5895347478744056e-15,-1.9230273003393163e-08],"joint_position_rad":[-1.9855157155081467,-1.5824463569618623,1.3179406182234512,-1.3063790017562227,-1.5707936050448414,-0.4147169407541109],"joint_velocity_rad_s":[1.9072299131287126e-05,0.0013999199633809634,-0.006048699665004544,0.004987053152748553,-1.045062347750644e-05,1.1431377880034028e-05],"linkage_position_rad":[0.002933008291051967,0.00015628505815540008,0.003192914058808058,-0.0034286841384605516,0.0029330148017259776,0.0001563086497584746,0.00319740966530877,-0.003437356866311847],"tcp_position_m":[0.06812264255119611,0.48729809526106893,0.4346614350257452],"tcp_quaternion_wxyz":[-1.7282347797157185e-05,0.7071076459361462,0.7071059150527194,4.0711399011510624e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,2.7200917437532328e-17,-5.39570130402446e-17,-1.570248626681193e-07],"object_linear_velocity_m_s":[6.824946669701748e-17,3.653832665853618e-17,6.355493759556993e-15],"object_angular_velocity_rad_s":[-1.1126504361566724e-15,1.5895350983482107e-15,-1.9230273003393166e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516778137866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855109963073714,-1.5920626691248052,1.3066003776306054,-1.3102141115665316,-1.570794429016039,-0.4147146773600245,0.0],"actuator_force":[0.0018094818979079719,-19.792592311237513,-20.261001319689512,-2.416260220429308,0.0006330767489544087,-1.1440744799529057e-05,-0.2933310240321778],"issued_joint_targets_rad":[-1.9855109349744144,-1.5821619176902038,1.316745817262703,-1.3053860643392499,-1.5707957456891308,-0.41471461364562384],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.079999999998744,"joint_targets_rad":[-1.9855109349744144,-1.5821619176902038,1.316745817262703,-1.3053860643392499,-1.5707957456891308,-0.41471461364562384],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.099999999998733,"qpos":[-1.9855153411423874,-1.582419696166159,1.3178257429572997,-1.3062842377658133,-1.570793809107835,-0.4147167179933112,0.002933065598203971,0.00015628665174731454,0.003192967776422397,-0.0034287426781785544,0.002933071475114845,0.00015630794718613669,0.0031974514876897697,-0.003437417762982621,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,2.1395322083243626e-17,-5.985300187444886e-17,-1.574903897142429e-07],"qvel":[1.79257679000297e-05,0.0012721406376504506,-0.00547234133092211,0.0045159869440982905,-9.727175589539069e-06,1.062862423588917e-05,2.722262958388517e-06,6.940676259953797e-08,2.569769117308793e-06,-2.764991638709057e-06,2.6966060787292454e-06,-2.711785114233157e-08,2.058486439132642e-06,-2.8749368999117703e-06,8.44115260070546e-17,3.2432981294528274e-17,6.45680161055404e-15,-5.625037057619727e-16,3.6259536480025683e-16,-3.510962225544637e-08],"joint_position_rad":[-1.9855153411423874,-1.582419696166159,1.3178257429572997,-1.3062842377658133,-1.570793809107835,-0.4147167179933112],"joint_velocity_rad_s":[1.79257679000297e-05,0.0012721406376504506,-0.00547234133092211,0.0045159869440982905,-9.727175589539069e-06,1.062862423588917e-05],"linkage_position_rad":[0.002933065598203971,0.00015628665174731454,0.003192967776422397,-0.0034287426781785544,0.002933071475114845,0.00015630794718613669,0.0031974514876897697,-0.003437417762982621],"tcp_position_m":[0.06812275487225446,0.48729866071366174,0.43469428882371175],"tcp_quaternion_wxyz":[-1.600097780230388e-05,0.7071075924405354,0.7071059687457946,3.769601276094076e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,2.1395322083243626e-17,-5.985300187444886e-17,-1.574903897142429e-07],"object_linear_velocity_m_s":[8.44115260070546e-17,3.2432981294528274e-17,6.45680161055404e-15],"object_angular_velocity_rad_s":[-5.625035873485416e-16,3.6259554348045735e-16,-3.510962225544638e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516440620445,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510933283098,-1.5920623144396646,1.3065994434116268,-1.3102130269451373,-1.570794489882742,-0.41471461354186634,0.0],"actuator_force":[0.0016454114188491076,-19.79409280207119,-20.263662558977103,-2.415993284071874,0.0006323301055317643,-1.0636701148314387e-05,-0.2933339480111264],"issued_joint_targets_rad":[-1.9855108775161359,-1.5821612917686285,1.3167447832342793,-1.3053851041218896,-1.570795800239073,-0.41471455579270977],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.099999999998733,"joint_targets_rad":[-1.9855108775161359,-1.5821612917686285,1.3167447832342793,-1.3053851041218896,-1.570795800239073,-0.41471455579270977],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.119999999998722,"qpos":[-1.9855149897101274,-1.5823954700496856,1.317721814568341,-1.3061984253373362,-1.5707939989051924,-0.4147165110116179,0.002933117565236403,0.00015628809181368893,0.003193016495180248,-0.0034287957453251533,0.0029331228688677102,0.0001563073094149601,0.0031974894372067716,-0.0034374729671011596,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,4.336334187638858e-18,-5.752073042984474e-17,-1.578667120093024e-07],"qvel":[1.6827712210587072e-05,0.0011559466573597304,-0.004950864383719058,0.004089398556553045,-9.047186394388503e-06,9.875398431143499e-06,2.4682030179133537e-06,6.275310200922926e-08,2.3298540767263314e-06,-2.506437166156529e-06,2.4449687159748286e-06,-2.4668815997841467e-08,1.8667554133604587e-06,-2.6059625888844175e-06,1.0253443742605271e-16,-8.29880578241911e-18,6.533129443497019e-15,-2.6679462880694536e-15,-1.4643255061754699e-15,-6.410130395458501e-08],"joint_position_rad":[-1.9855149897101274,-1.5823954700496856,1.317721814568341,-1.3061984253373362,-1.5707939989051924,-0.4147165110116179],"joint_velocity_rad_s":[1.6827712210587072e-05,0.0011559466573597304,-0.004950864383719058,0.004089398556553045,-9.047186394388503e-06,9.875398431143499e-06],"linkage_position_rad":[0.002933117565236403,0.00015628809181368893,0.003193016495180248,-0.0034287957453251533,0.0029331228688677102,0.0001563073094149601,0.0031974894372067716,-0.0034374729671011596],"tcp_position_m":[0.06812285394253727,0.4872991781792014,0.43472395289296756],"tcp_quaternion_wxyz":[-1.4805833469526629e-05,0.7071075414600715,0.7071060198967832,3.4882805106462004e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,4.336334187638858e-18,-5.752073042984474e-17,-1.578667120093024e-07],"object_linear_velocity_m_s":[1.0253443742605271e-16,-8.29880578241911e-18,6.533129443497019e-15],"object_angular_velocity_rad_s":[-2.6679467430315208e-15,-1.4643246632596528e-15,-6.410130395458504e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313516134182895,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855108761352176,-1.592062003449851,1.3065986082528878,-1.3102120470449208,-1.5707945450637477,-0.41471455569660276,0.0],"actuator_force":[0.0014960649350541644,-19.79544546327452,-20.26606687741878,-2.415750709447593,0.0006316393616998539,-9.882335547217735e-06,-0.29333658756387515],"issued_joint_targets_rad":[-1.9855108254483502,-1.5821607315752388,1.3167438559067153,-1.3053842370361002,-1.570795849677078,-0.4147145033561359],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.119999999998722,"joint_targets_rad":[-1.9855108254483502,-1.5821607315752388,1.3167438559067153,-1.3053842370361002,-1.570795849677078,-0.4147145033561359],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.139999999998711,"qpos":[-1.9855146601780118,-1.5823734576869182,1.31762779051972,-1.3061207192098285,-1.5707941753117434,-0.4147163188183044,0.002933164669729279,0.00015628939316541097,0.0031930606605636365,-0.003428843832540969,0.0029331694547965388,0.0001563067305264831,0.0031975238528879012,-0.003437522991808675,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,-7.548409157163072e-18,-4.7647957307135865e-17,-1.5816490749516293e-07],"qvel":[1.5778932222961762e-05,0.0010502990150795253,-0.0044790507387855215,0.0037030912037534437,-8.408891569338019e-06,9.169510058570206e-06,2.2369358151586913e-06,5.673464645561919e-08,2.111468689865458e-06,-2.271166106613316e-06,2.2158980574654707e-06,-2.243462523283089e-08,1.692037486232858e-06,-2.361272034941764e-06,9.138922379117863e-17,-5.0040889919733e-17,6.258349244902294e-15,-3.0176571898477032e-15,-1.1068942106338758e-16,-1.1703279342576436e-07],"joint_position_rad":[-1.9855146601780118,-1.5823734576869182,1.31762779051972,-1.3061207192098285,-1.5707941753117434,-0.4147163188183044],"joint_velocity_rad_s":[1.5778932222961762e-05,0.0010502990150795253,-0.0044790507387855215,0.0037030912037534437,-8.408891569338019e-06,9.169510058570206e-06],"linkage_position_rad":[0.002933164669729279,0.00015628939316541097,0.0031930606605636365,-0.003428843832540969,0.0029331694547965388,0.0001563067305264831,0.0031975238528879012,-0.003437522991808675],"tcp_position_m":[0.0681229412094271,0.4872996516038786,0.4347507370871526],"tcp_quaternion_wxyz":[-1.3692223917302845e-05,0.7071074929815122,0.7071060685223658,3.226091266044131e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,-7.548409157163072e-18,-4.7647957307135865e-17,-1.5816490749516293e-07],"object_linear_velocity_m_s":[9.138922379117863e-17,-5.0040889919733e-17,6.258349244902294e-15],"object_angular_velocity_rad_s":[-3.0176572137091714e-15,-1.1068846825526613e-16,-1.1703279342576444e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515856141807,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855108243208475,-1.5920617303294151,1.3065978608223596,-1.3102111615406389,-1.5707945950883224,-0.41471450326717696,0.0],"actuator_force":[0.0013601414398181078,-19.796664891025557,-20.268239099206312,-2.4155302857805054,0.0006310008674290657,-9.17544213052679e-06,-0.293338970395654],"issued_joint_targets_rad":[-1.9855107782669468,-1.5821602297010462,1.3167430235749396,-1.3053834538680034,-1.570795894480689,-0.4147144558304263],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.139999999998711,"joint_targets_rad":[-1.9855107782669468,-1.5821602297010462,1.3167430235749396,-1.3053834538680034,-1.570795894480689,-0.4147144558304263],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.1599999999987,"qpos":[-1.9855143515088631,-1.5823534579952183,1.3175427274296028,-1.306050353888577,-1.5707943391641688,-0.4147161404689194,0.002933207350353661,0.00015629056918151305,0.003193100682102408,-0.0034288873917002506,0.0029332116663535277,0.00015630620513247626,0.0031975550478467677,-0.003437568307582257,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,-1.6497389956649673e-17,-3.445479864768739e-17,-1.586088407578217e-07],"qvel":[1.47796827840262e-05,0.0009542500778715392,-0.004052176934700415,0.003353263639578252,-7.810474306856472e-06,8.508741806506914e-06,2.0265904862216438e-06,5.1291241751946875e-08,1.912845516860187e-06,-2.057250634941056e-06,2.007543823912887e-06,-2.0397612816395925e-08,1.5329840060872357e-06,-2.138840111890864e-06,4.5247853163104003e-17,-1.8478482812394332e-17,6.115408030481804e-15,1.6629351715647276e-16,1.798226390365414e-15,-1.2679544766541117e-08],"joint_position_rad":[-1.9855143515088631,-1.5823534579952183,1.3175427274296028,-1.306050353888577,-1.5707943391641688,-0.4147161404689194],"joint_velocity_rad_s":[1.47796827840262e-05,0.0009542500778715392,-0.004052176934700415,0.003353263639578252,-7.810474306856472e-06,8.508741806506914e-06],"linkage_position_rad":[0.002933207350353661,0.00015629056918151305,0.003193100682102408,-0.0034288873917002506,0.0029332116663535277,0.00015630620513247626,0.0031975550478467677,-0.003437568307582257],"tcp_position_m":[0.0681230179720996,0.48730008462598884,0.43477492114285454],"tcp_quaternion_wxyz":[-1.265555825045487e-05,0.7071074469736942,0.7071061146567519,2.9819676781444434e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,-1.6497389956649673e-17,-3.445479864768739e-17,-1.586088407578217e-07],"object_linear_velocity_m_s":[4.5247853163104003e-17,-1.8478482812394332e-17,6.115408030481804e-15],"object_angular_velocity_rad_s":[1.6629408845941317e-16,1.798226337195722e-15,-1.2679544766541125e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515604010919,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855107773463407,-1.5920614900971928,1.30659719121905,-1.3102103611629163,-1.570794640436785,-0.4147144557481373,0.0],"actuator_force":[0.0012364519311631739,-19.797764235097475,-20.27020164722535,-2.4153300011274723,0.0006304111226427267,-8.513789595099297e-06,-0.29334112150691016],"issued_joint_targets_rad":[-1.9855107355146773,-1.5821597796560625,1.3167422759343546,-1.305382746347127,-1.5707959350831011,-0.4147144127569955],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.1599999999987,"joint_targets_rad":[-1.9855107355146773,-1.5821597796560625,1.3167422759343546,-1.305382746347127,-1.5707959350831011,-0.4147144127569955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.179999999998689,"qpos":[-1.9855140626708205,-1.5823352879846384,1.317465771666401,-1.3059866361255188,-1.570794491260437,-0.4147159750653677,0.002933246009291716,0.00015629163194791977,0.003193136935531145,-0.0034289268365949475,0.00293324990099911,0.00015630572832984254,0.00319758331050132,-0.0034376093450792953,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,-2.5053105846522228e-17,-1.2369077446272685e-17,-1.5905485842614752e-07],"qvel":[1.3829763546774661e-05,0.0008669358573169227,-0.0036659675324646154,0.0030364729563218283,-7.25009060510404e-06,7.890873673948597e-06,1.8354155445394182e-06,4.636836311239538e-08,1.7323300858013966e-06,-1.8628900019511155e-06,1.8181733360333691e-06,-1.8541292674401572e-08,1.3883214538038204e-06,-1.9367762305928805e-06,2.016574174765599e-17,-3.352209192576501e-17,5.939160125322558e-15,2.2134518020163316e-16,1.7828496564267443e-15,-2.3149646759861215e-08],"joint_position_rad":[-1.9855140626708205,-1.5823352879846384,1.317465771666401,-1.3059866361255188,-1.570794491260437,-0.4147159750653677],"joint_velocity_rad_s":[1.3829763546774661e-05,0.0008669358573169227,-0.0036659675324646154,0.0030364729563218283,-7.25009060510404e-06,7.890873673948597e-06],"linkage_position_rad":[0.002933246009291716,0.00015629163194791977,0.003193136935531145,-0.0034289268365949475,0.00293324990099911,0.00015630572832984254,0.00319758331050132,-0.0034376093450792953],"tcp_position_m":[0.06812308539562462,0.48730048059757625,0.43479675760885117],"tcp_quaternion_wxyz":[-1.1691370274742862e-05,0.707107403390754,0.7071061583484938,2.7548706374124586e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,-2.5053105846522228e-17,-1.2369077446272685e-17,-1.5905485842614752e-07],"object_linear_velocity_m_s":[2.016574174765599e-17,-3.352209192576501e-17,5.939160125322558e-15],"object_angular_velocity_rad_s":[2.213457479161009e-16,1.782849584854662e-15,-2.3149646759861235e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313515375493779,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855107347629908,-1.592061278484715,1.3065965907720383,-1.3102096375837966,-1.5707946815449787,-0.4147144126809229,0.0],"actuator_force":[0.0011239102409490442,-19.798755343080302,-20.271974775739636,-2.415148024771156,0.0006298667897226551,-7.895144989333858e-06,-0.2933430634589442],"issued_joint_targets_rad":[-1.9855106967768488,-1.5821593757423904,1.3167416038949478,-1.3053821070443479,-1.5707959718772317,-0.41471437371984426],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.179999999998689,"joint_targets_rad":[-1.9855106967768488,-1.5821593757423904,1.3167416038949478,-1.3053821070443479,-1.5707959718772317,-0.41471437371984426],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.199999999998678,"qpos":[-1.9855137926448996,-1.582318781156712,1.3173961508311527,-1.305928938107193,-1.570794632359681,-0.41471582175556826,0.0029332810146683484,0.00015629259238295396,0.0031931697649810005,-0.003428962545572014,0.002933284522586296,0.00015630529565767245,0.0031976089059100386,-0.0034376464979412285,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,-7.83952217772163e-18,-2.283240701665451e-17,-1.5948738087885363e-07],"qvel":[1.2928597807466324e-05,0.0007875688787353371,-0.0033165528522611384,0.0027496008684942297,-6.725890283997364e-06,7.313702986542772e-06,1.6617785801916371e-06,4.19165819102722e-08,1.5683799885872038e-06,-1.6864085339228883e-06,1.646171343907843e-06,-1.685038350994793e-08,1.2568538001799184e-06,-1.7533257043166682e-06,3.9245577155382876e-17,5.250882405141245e-19,5.844791168229421e-15,1.826712698343538e-15,-1.4143041791364036e-15,-4.226540896961625e-08],"joint_position_rad":[-1.9855137926448996,-1.582318781156712,1.3173961508311527,-1.305928938107193,-1.570794632359681,-0.41471582175556826],"joint_velocity_rad_s":[1.2928597807466324e-05,0.0007875688787353371,-0.0033165528522611384,0.0027496008684942297,-6.725890283997364e-06,7.313702986542772e-06],"linkage_position_rad":[0.0029332810146683484,0.00015629259238295396,0.0031931697649810005,-0.003428962545572014,0.002933284522586296,0.00015630529565767245,0.0031976089059100386,-0.0034376464979412285],"tcp_position_m":[0.06812314452386999,0.48730084260493434,0.4348164744902179],"tcp_quaternion_wxyz":[-1.079533746083012e-05,0.7071073621749402,0.7071061996577106,2.5437926504248035e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,-7.83952217772163e-18,-2.283240701665451e-17,-1.5948738087885363e-07],"object_linear_velocity_m_s":[3.9245577155382876e-17,5.250882405141245e-19,5.844791168229421e-15],"object_angular_velocity_rad_s":[1.8267122491461504e-15,-1.4143047624742625e-15,-4.2265408969616296e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351516847496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855106961630777,-1.5920610918260014,1.3065960518704671,-1.3102089833157484,-1.5707947188083404,-0.41471437364955915,0.0],"actuator_force":[0.001021524520638195,-19.79964889007306,-20.273576780466556,-2.4149826911270793,0.0006293646988524415,-7.317294119957296e-06,-0.29334481661235273],"issued_joint_targets_rad":[-1.9855106616774052,-1.582159012946658,1.3167409994227228,-1.3053815292817734,-1.5707960052194285,-0.4147143383416515],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.199999999998678,"joint_targets_rad":[-1.9855106616774052,-1.582159012946658,1.3167409994227228,-1.3053815292817734,-1.5707960052194285,-0.4147143383416515],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.219999999998667,"qpos":[-1.9855135404311928,-1.582303786040519,1.317333166044275,-1.3058766912838993,-1.5707947631824368,-0.41471567973276946,0.0029333127029488428,0.0001562934603506083,0.0031931994851604447,-0.0034289948641090962,0.00293331586371561,0.00015630490305912695,0.003197632077174988,-0.003437680125518895,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,1.2028000102966957e-17,-3.8398457030924034e-17,-1.5982053565085238e-07],"qvel":[1.207530132532233e-05,0.000715431613490198,-0.003000430653694757,0.002489823157921508,-6.2360343736384335e-06,6.7750606756563086e-06,1.504163956477999e-06,3.789110821660003e-08,1.4195635671995063e-06,-1.526251775497791e-06,1.490037853152013e-06,-1.5310814706248588e-08,1.1374634046198902e-06,-1.5868635249469884e-06,1.1208503253292486e-16,5.858334020099646e-17,5.751809989917064e-15,5.00449383802333e-15,-6.608221553069238e-15,-7.716596343345309e-08],"joint_position_rad":[-1.9855135404311928,-1.582303786040519,1.317333166044275,-1.3058766912838993,-1.5707947631824368,-0.41471567973276946],"joint_velocity_rad_s":[1.207530132532233e-05,0.000715431613490198,-0.003000430653694757,0.002489823157921508,-6.2360343736384335e-06,6.7750606756563086e-06],"linkage_position_rad":[0.0029333127029488428,0.0001562934603506083,0.0031931994851604447,-0.0034289948641090962,0.00293331586371561,0.00015630490305912695,0.003197632077174988,-0.003437680125518895],"tcp_position_m":[0.06812319629129487,0.4873011734879529,0.4348342776350913],"tcp_quaternion_wxyz":[-9.963295050199224e-06,0.7071073232590649,0.707106238653665,2.347761500973832e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,1.2028000102966957e-17,-3.8398457030924034e-17,-1.5982053565085238e-07],"object_linear_velocity_m_s":[1.1208503253292486e-16,5.858334020099646e-17,5.751809989917064e-15],"object_angular_velocity_rad_s":[5.004491731690172e-15,-6.608223150854377e-15,-7.716596343345317e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514981010194,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855106611762376,-1.592060926965483,1.3065955678194132,-1.3102083916223988,-1.5707947525856105,-0.414714338276749,0.0],"actuator_force":[0.0009283893800784426,-19.80045449532463,-20.27502418824588,-2.414832485041984,0.0006289018505185595,-6.7780573260733945e-06,-0.29334639934227075],"issued_joint_targets_rad":[-1.9855106298753613,-1.5821586868485984,1.3167404554040751,-1.3053810070530307,-1.5707960354328414,-0.4147143062802104],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.219999999998667,"joint_targets_rad":[-1.9855106298753613,-1.5821586868485984,1.3167404554040751,-1.3053810070530307,-1.5707960354328414,-0.4147143062802104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.239999999998656,"qpos":[-1.9855133050538634,-1.582290164855025,1.317276184961481,-1.3058293807798904,-1.5707948844111828,-0.41471554823458556,0.002933341381268687,0.00015629424476235743,0.003193226383480861,-0.003429024107302474,0.002933344228026198,0.00015630454684569797,0.0031976530468660956,-0.00343771055549278,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,2.4912100158288816e-17,-4.8733878987980103e-17,-1.60113244531077e-07],"qvel":[1.1268742103440618e-05,0.0006498704384191903,-0.0027144313997187752,0.0022545819857004174,-5.778709273447655e-06,6.272824410174477e-06,1.3611690443368738e-06,3.425130662276448e-08,1.2845555075881056e-06,-1.3809840253523868e-06,1.3483844888774894e-06,-1.3909562212643192e-08,1.0291107307926748e-06,-1.4358891600467585e-06,5.527333974900073e-17,2.6979022228871527e-17,5.708788847712837e-15,-4.511304172542171e-16,1.2754823442532068e-15,-8.360300213019793e-09],"joint_position_rad":[-1.9855133050538634,-1.582290164855025,1.317276184961481,-1.3058293807798904,-1.5707948844111828,-0.41471554823458556],"joint_velocity_rad_s":[1.1268742103440618e-05,0.0006498704384191903,-0.0027144313997187752,0.0022545819857004174,-5.778709273447655e-06,6.272824410174477e-06],"linkage_position_rad":[0.002933341381268687,0.00015629424476235743,0.003193226383480861,-0.003429024107302474,0.002933344228026198,0.00015630454684569797,0.0031976530468660956,-0.00343771055549278],"tcp_position_m":[0.06812324153369881,0.48730147585832223,0.4348503528891507],"tcp_quaternion_wxyz":[-9.191246062627162e-06,0.707107286568627,0.7071062754126753,2.1658428982298182e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,2.4912100158288816e-17,-4.8733878987980103e-17,-1.60113244531077e-07],"object_linear_velocity_m_s":[5.527333974900073e-17,2.6979022228871527e-17,5.708788847712837e-15],"object_angular_velocity_rad_s":[-4.511300079961018e-16,1.2754824891335977e-15,-8.360300213019803e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514811316291,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855106294661324,-1.5920607811809253,1.3065951327173866,-1.3102078564394897,-1.5707947832022047,-0.4147143062203092,0.0],"actuator_force":[0.0008436786201855284,-19.801180827168537,-20.27633192830126,-2.41469602836969,0.0006284754164198603,-6.2753028373663255e-06,-0.2933478282324103],"issued_joint_targets_rad":[-1.9855106010615586,-1.5821583935431671,1.3167399655295087,-1.3053805349526364,-1.570796062810489,-0.41471427722518883],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.239999999998656,"joint_targets_rad":[-1.9855106010615586,-1.5821583935431671,1.3167399655295087,-1.3053805349526364,-1.570796062810489,-0.41471427722518883],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.259999999998644,"qpos":[-1.9855130855651002,-1.5822777922874534,1.3172246354505208,-1.3057865403300544,-1.570794996691112,-0.41471542654181526,0.0029333673296726777,0.0001562949536696922,0.003193250722111881,-0.003429050562240267,0.0029333698923998596,0.00015630422366446148,0.003197672018440593,-0.003437738086357088,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,4.308510328784915e-17,-8.772643545908088e-17,-1.6058836333783044e-07],"qvel":[1.0507592183668855e-05,0.0005902900868673304,-0.002455686775559872,0.002041560803611989,-5.352138219472536e-06,5.804928991500587e-06,1.2314995153011535e-06,3.096042420878178e-08,1.1621331646259555e-06,-1.249280800129693e-06,1.2199298957113013e-06,-1.2634602028628437e-08,9.308322959969205e-07,-1.2990205200211261e-06,1.0448382886345474e-16,4.815311688270581e-17,5.674094378193301e-15,-8.279984843759543e-16,1.6787472376704084e-15,-1.5263796950228706e-08],"joint_position_rad":[-1.9855130855651002,-1.5822777922874534,1.3172246354505208,-1.3057865403300544,-1.570794996691112,-0.41471542654181526],"joint_velocity_rad_s":[1.0507592183668855e-05,0.0005902900868673304,-0.002455686775559872,0.002041560803611989,-5.352138219472536e-06,5.804928991500587e-06],"linkage_position_rad":[0.0029333673296726777,0.0001562949536696922,0.003193250722111881,-0.003429050562240267,0.0029333698923998596,0.00015630422366446148,0.003197672018440593,-0.003437738086357088],"tcp_position_m":[0.06812328099800632,0.48730175211661503,0.4348648680404563],"tcp_quaternion_wxyz":[-8.475367877120852e-06,0.7071072520236426,0.7071063100163104,1.997142276120056e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,4.308510328784915e-17,-8.772643545908088e-17,-1.6058836333783044e-07],"object_linear_velocity_m_s":[1.0448382886345474e-16,4.815311688270581e-17,5.674094378193301e-15],"object_angular_velocity_rad_s":[-8.279979425232929e-16,1.6787475049194512e-15,-1.5263796950228726e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514657760584,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855106007273968,-1.592060652118801,1.3065947413519683,-1.3102073723047696,-1.5707948109532845,-0.41471427716993065,0.0],"actuator_force":[0.0007666385331503989,-19.80183569744213,-20.277513486881162,-2.414572067718723,0.0006280827358295937,-5.8069568638075e-06,-0.29334911825068194],"issued_joint_targets_rad":[-1.9855105749557194,-1.5821581295740235,1.316739524193683,-1.3053801081133225,-1.5707960876180478,-0.414714250895184],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.259999999998644,"joint_targets_rad":[-1.9855105749557194,-1.5821581295740235,1.316739524193683,-1.3053801081133225,-1.5707960876180478,-0.414714250895184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.279999999998633,"qpos":[-1.9855128810481748,-1.5822665543781493,1.3171779998667341,-1.305747747693616,-1.570795100631101,-0.41471531397708755,0.002933390803247111,0.00015629559434696572,0.0031932727399432326,-0.0034290744902485005,0.0029333931090615444,0.00015630393046832042,0.003197689177625509,-0.0034377629897881243,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,6.371837882524513e-17,-1.1950247763296481e-16,-1.610631769736392e-07],"qvel":[9.790372291105834e-06,0.0005361485568472745,-0.002221601163005234,0.0018486616222450703,-4.954590363252919e-06,5.369374390985898e-06,1.113963849616786e-06,2.79851544739161e-08,1.0511706574960034e-06,-1.1299249856576917e-06,1.1034943570854206e-06,-1.1474869650595506e-08,8.41737809329007e-07,-1.174988012261978e-06,1.57575977347432e-16,8.776563547989726e-17,5.99050794021147e-15,-2.520707415383132e-16,6.010027450974691e-16,-2.7867838642321267e-08],"joint_position_rad":[-1.9855128810481748,-1.5822665543781493,1.3171779998667341,-1.305747747693616,-1.570795100631101,-0.41471531397708755],"joint_velocity_rad_s":[9.790372291105834e-06,0.0005361485568472745,-0.002221601163005234,0.0018486616222450703,-4.954590363252919e-06,5.369374390985898e-06],"linkage_position_rad":[0.002933390803247111,0.00015629559434696572,0.0031932727399432326,-0.0034290744902485005,0.0029333931090615444,0.00015630393046832042,0.003197689177625509,-0.0034377629897881243],"tcp_position_m":[0.06812331535115679,0.48730200446827376,0.43487797457505145],"tcp_quaternion_wxyz":[-7.812015953569521e-06,0.7071072195402186,0.7071063425498434,1.840805883179419e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,6.371837882524513e-17,-1.1950247763296481e-16,-1.610631769736392e-07],"object_linear_velocity_m_s":[1.57575977347432e-16,8.776563547989726e-17,5.99050794021147e-15],"object_angular_velocity_rad_s":[-2.520705412789254e-16,6.010028298474536e-16,-2.786783864232131e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514518850685,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855105746828503,-1.592060537740008,1.30659438911068,-1.310206934295718,-1.5707948361065491,-0.4147142508442327,0.0],"actuator_force":[0.0006965817328818957,-19.802426146456583,-20.27858104690631,-2.414459463275648,0.0006277213121848035,-5.371011695842753e-06,-0.29335028290646625],"issued_joint_targets_rad":[-1.9855105513037656,-1.5821578918765564,1.3167391264092578,-1.3053797221503265,-1.5707961100963859,-0.4147142270350437],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.279999999998633,"joint_targets_rad":[-1.9855105513037656,-1.5821578918765564,1.3167391264092578,-1.3053797221503265,-1.5707961100963859,-0.4147142270350437],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.299999999998622,"qpos":[-1.9855126906197214,-1.5822563475030815,1.3171358098710892,-1.3057126205000325,-1.5707951968048213,-0.4147152099033818,0.0029334120341358875,0.00015629617336695677,0.003193292654448971,-0.0034290961290067935,0.0029334141075667134,0.000156303664488535,0.003197704693759694,-0.003437785512839391,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,7.387483908281556e-17,-1.2890792889275563e-16,-1.6146058286482033e-07],"qvel":[9.115490190081742e-06,0.00048695244322773476,-0.002009825797015984,0.0016739844155884865,-4.5843878389649906e-06,4.964231802585862e-06,1.00746753388552e-06,2.5295364558730162e-08,9.506341933985121e-07,-1.0217984050862836e-06,9.979940841560548e-07,-1.0420279778255182e-08,7.610065996569314e-07,-1.0626270613141307e-06,2.064956188529761e-16,1.2495443205600273e-16,6.147326942439773e-15,1.881311237335914e-15,-2.4845918163903197e-15,-5.0879635855146625e-08],"joint_position_rad":[-1.9855126906197214,-1.5822563475030815,1.3171358098710892,-1.3057126205000325,-1.5707951968048213,-0.4147152099033818],"joint_velocity_rad_s":[9.115490190081742e-06,0.00048695244322773476,-0.002009825797015984,0.0016739844155884865,-4.5843878389649906e-06,4.964231802585862e-06],"linkage_position_rad":[0.0029334120341358875,0.00015629617336695677,0.003193292654448971,-0.0034290961290067935,0.0029334141075667134,0.000156303664488535,0.003197704693759694,-0.003437785512839391],"tcp_position_m":[0.06812334518817394,0.4873022349385484,0.43488980926177057],"tcp_quaternion_wxyz":[-7.197725192186925e-06,0.7071071890318952,0.7071063731009322,1.696021285461077e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,7.387483908281556e-17,-1.2890792889275563e-16,-1.6146058286482033e-07],"object_linear_velocity_m_s":[2.064956188529761e-16,1.2495443205600273e-16,6.147326942439773e-15],"object_angular_velocity_rad_s":[1.8813104481261115e-15,-2.4845924163879644e-15,-5.0879635855146705e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351439322419,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510551080943,-1.592060436274176,1.3065940719046518,-1.3102065379741323,-1.570794858904772,-0.4147142269880844,0.0],"actuator_force":[0.0006328814806693117,-19.802958519479944,-20.27954561406841,-2.414357178608725,0.0006273888085388535,-4.9655315876862005e-06,-0.29335133439322025],"issued_joint_targets_rad":[-1.9855105298753866,-1.5821576777289632,1.3167387677324531,-1.305379373111818,-1.5707961304638647,-0.41471420541343557],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.299999999998622,"joint_targets_rad":[-1.9855105298753866,-1.5821576777289632,1.3167387677324531,-1.305379373111818,-1.5707961304638647,-0.41471420541343557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.319999999998611,"qpos":[-1.9855125134313532,-1.5822470774457984,1.3170976417396394,-1.3056808124864352,-1.5707952857519651,-0.4147151137224538,0.0029334312334346906,0.00015629669666841005,0.003193310663439559,-0.003429115694528565,0.0029334330966695387,0.00015630342320995034,0.0031977187210694147,-0.0034378058800358284,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,6.472770757926508e-17,-1.1933035070788174e-16,-1.6180066160909956e-07],"qvel":[8.481273439742324e-06,0.0004422526623144079,-0.0018182353559442201,0.0015158084620776136,-4.23991112201621e-06,4.58764797078394e-06,9.110070433415364e-07,2.2863745117166594e-08,8.595756054667134e-07,-9.238772759237324e-07,9.024353039458563e-07,-9.461503072933832e-09,6.878842536849898e-07,-9.6087167252832e-07,2.5674341781479665e-16,1.232075939049011e-16,5.725442193082213e-15,8.552791562891887e-16,-5.910934182142414e-15,-9.289336636322037e-08],"joint_position_rad":[-1.9855125134313532,-1.5822470774457984,1.3170976417396394,-1.3056808124864352,-1.5707952857519651,-0.4147151137224538],"joint_velocity_rad_s":[8.481273439742324e-06,0.0004422526623144079,-0.0018182353559442201,0.0015158084620776136,-4.23991112201621e-06,4.58764797078394e-06],"linkage_position_rad":[0.0029334312334346906,0.00015629669666841005,0.003193310663439559,-0.003429115694528565,0.0029334330966695387,0.00015630342320995034,0.0031977187210694147,-0.0034378058800358284],"tcp_position_m":[0.06812337103947445,0.48730244538642176,0.4349004955828728],"tcp_quaternion_wxyz":[-6.629209355015902e-06,0.7071071604107857,0.7071064017585038,1.5620173857160405e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,6.472770757926508e-17,-1.1933035070788174e-16,-1.6180066160909956e-07],"object_linear_velocity_m_s":[2.5674341781479665e-16,1.232075939049011e-16,5.725442193082213e-15],"object_angular_velocity_rad_s":[8.552772656730205e-16,-5.9109344468860354e-15,-9.289336636322053e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351427963904,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855105296934286,-1.59206034618113,1.3065937861030932,-1.3102061793367699,-1.570794879568108,-0.4147142053701738,0.0],"actuator_force":[0.0005749664737777493,-19.803438535589066,-20.280417130714795,-2.414264271375032,0.0006270830408539041,-4.588657077420066e-06,-0.29335228371694794],"issued_joint_targets_rad":[-1.9855105104618278,-1.582157484710138,1.3167384441985717,-1.3053790574347097,-1.5707961489184317,-0.41471418582063097],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.319999999998611,"joint_targets_rad":[-1.9855105104618278,-1.582157484710138,1.3167384441985717,-1.3053790574347097,-1.5707961489184317,-0.41471418582063097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.3399999999986,"qpos":[-1.985512348670712,-1.582238658551255,1.317063112118059,-1.305652010089794,-1.570795367979552,-0.41471502487319983,0.0029334485929622114,0.00015629716961734023,0.0031933269467033683,-0.0034291333830005146,0.0029334502660706033,0.00015630320434799325,0.003197731399883503,-0.0034378242952818236,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,4.983682279259978e-17,-1.0638128846272408e-16,-1.62153028274902e-07],"qvel":[7.885997243447693e-06,0.00040164053874278366,-0.0016449067590730932,0.0013725754409150202,-3.919602898141397e-06,4.237848119604557e-06,8.23663777874382e-07,2.0665576323896643e-08,7.771271342008445e-07,-8.352247284894596e-07,8.159082699127125e-07,-8.590051837716307e-09,6.21678645504478e-07,-8.687467226847141e-07,1.2966284949259071e-16,6.214972083664396e-17,5.457600888391395e-15,-2.1952983301526583e-15,4.1830367582881805e-15,-1.0064235526124199e-08],"joint_position_rad":[-1.985512348670712,-1.582238658551255,1.317063112118059,-1.305652010089794,-1.570795367979552,-0.41471502487319983],"joint_velocity_rad_s":[7.885997243447693e-06,0.00040164053874278366,-0.0016449067590730932,0.0013725754409150202,-3.919602898141397e-06,4.237848119604557e-06],"linkage_position_rad":[0.0029334485929622114,0.00015629716961734023,0.0031933269467033683,-0.0034291333830005146,0.0029334502660706033,0.00015630320434799325,0.003197731399883503,-0.0034378242952818236],"tcp_position_m":[0.06812339337748459,0.4873026375175736,0.4349101450255173],"tcp_quaternion_wxyz":[-6.103358911675918e-06,0.7071071335885353,0.7071064286118114,1.4380640489489963e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,4.983682279259978e-17,-1.0638128846272408e-16,-1.62153028274902e-07],"object_linear_velocity_m_s":[1.2966284949259071e-16,6.214972083664396e-17,5.457600888391395e-15],"object_angular_velocity_rad_s":[-2.195296971427099e-15,4.1830374712396514e-15,-1.0064235526124217e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514176964012,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855105103132376,-1.5920602661183378,1.3065935284768977,-1.310205854771307,-1.570794898296189,-0.4147141857807916,0.0],"actuator_force":[0.0005223160515015479,-19.80387134966304,-20.281204578692723,-2.414179884847954,0.0006268019712933892,-4.238607886009049e-06,-0.29335314081187963],"issued_joint_targets_rad":[-1.9855104928738834,-1.582157310663307,1.3167381522659858,-1.3053787719052357,-1.5707961656395164,-0.4147141680665049],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.3399999999986,"joint_targets_rad":[-1.9855104928738834,-1.582157310663307,1.3167381522659858,-1.3053787719052357,-1.5707961656395164,-0.4147141680665049],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.359999999998589,"qpos":[-1.9855121955620403,-1.5822310129545407,1.3170318741792353,-1.3056259293604118,-1.5707954439632907,-0.41471494282998533,0.0029334642869089217,0.00015629759706258043,0.003193341667541453,-0.003429149372508138,0.0029334657880443725,0.00015630300582793798,0.003197742857777087,-0.0034378409436505793,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999878,4.538448181984366e-17,-1.2194660920968898e-16,-1.6260395676304623e-07],"qvel":[7.327907980463449e-06,0.00036474422658784307,-0.0014880999658087072,0.0012428741189954094,-3.6219706976612847e-06,3.913137613543073e-06,7.445981518388223e-07,1.8678533413637976e-08,7.024955125723979e-07,-7.549848298723475e-07,7.375814327940793e-07,-7.798096606101533e-09,5.617560290009351e-07,-7.853615061356989e-07,1.542314902614581e-16,5.858773001054105e-17,5.407640852283263e-15,-1.4858479301267913e-15,3.0699104998649483e-15,-1.8374752534700686e-08],"joint_position_rad":[-1.9855121955620403,-1.5822310129545407,1.3170318741792353,-1.3056259293604118,-1.5707954439632907,-0.41471494282998533],"joint_velocity_rad_s":[7.327907980463449e-06,0.00036474422658784307,-0.0014880999658087072,0.0012428741189954094,-3.6219706976612847e-06,3.913137613543073e-06],"linkage_position_rad":[0.0029334642869089217,0.00015629759706258043,0.003193341667541453,-0.003429149372508138,0.0029334657880443725,0.00015630300582793798,0.003197742857777087,-0.0034378409436505793],"tcp_position_m":[0.0681234126226222,0.487302812896429,0.434918858247625],"tcp_quaternion_wxyz":[-5.6172376219027035e-06,0.7071071084771244,0.7071064537496515,1.3234714104805942e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999878,4.538448181984366e-17,-1.2194660920968898e-16,-1.6260395676304623e-07],"object_linear_velocity_m_s":[1.542314902614581e-16,5.858773001054105e-17,5.407640852283263e-15],"object_angular_velocity_rad_s":[-1.4858469272860495e-15,3.069910984742154e-15,-1.8374752534700723e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514084169867,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855104927525398,-1.5920601949133235,1.3065932961499567,-1.3102055610170091,-1.5707949152700256,-0.4147141680298314,0.0],"actuator_force":[0.0004744558091260842,-19.804261608200704,-20.2819160722338,-2.4141032401981875,0.0006265437024239873,-3.913684395229211e-06,-0.2933539146455879],"issued_joint_targets_rad":[-1.9855104769400758,-1.5821571536645673,1.316737888767395,-1.305378513623728,-1.5707961807897584,-0.4147141519787064],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.359999999998589,"joint_targets_rad":[-1.9855104769400758,-1.5821571536645673,1.316737888767395,-1.305378513623728,-1.5707961807897584,-0.4147141519787064],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.379999999998578,"qpos":[-1.9855120533663504,-1.5822240698780736,1.3170036141458419,-1.305602313166508,-1.5707955141489716,-0.4147148671009568,0.0029334784733662357,0.00015629798338524556,0.0031933549741877502,-0.0034291638246122798,0.002933479818949112,0.00015630282576569043,0.0031977532106386894,-0.00343785599304425,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,3.5268042501899515e-17,-1.1666661919370112e-16,-1.6304877334309262e-07],"qvel":[6.805242926419616e-06,0.0003312254379807873,-0.0013462405893102476,0.0011254264793703309,-3.345588519790495e-06,3.611902669633335e-06,6.730436922869817e-07,1.6882375949294056e-08,6.349568108419001e-07,-6.823773933292842e-07,6.666956153485338e-07,-7.078552061435613e-09,5.07536516944952e-07,-7.099049146102798e-07,1.6288206574149666e-16,4.654274827216253e-17,5.736544423328466e-15,-1.1578720310129126e-15,1.9417421377061135e-15,-3.3547657925434704e-08],"joint_position_rad":[-1.9855120533663504,-1.5822240698780736,1.3170036141458419,-1.305602313166508,-1.5707955141489716,-0.4147148671009568],"joint_velocity_rad_s":[6.805242926419616e-06,0.0003312254379807873,-0.0013462405893102476,0.0011254264793703309,-3.345588519790495e-06,3.611902669633335e-06],"linkage_position_rad":[0.0029334784733662357,0.00015629798338524556,0.0031933549741877502,-0.0034291638246122798,0.002933479818949112,0.00015630282576569043,0.0031977532106386894,-0.00343785599304425],"tcp_position_m":[0.06812342914869755,0.48730297295734354,0.4349267261303542],"tcp_quaternion_wxyz":[-5.168078122562031e-06,0.7071070849895337,0.7071064772597141,1.2175889321671082e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,3.5268042501899515e-17,-1.1666661919370112e-16,-1.6304877334309262e-07],"object_linear_velocity_m_s":[1.6288206574149666e-16,4.654274827216253e-17,5.736544423328466e-15],"object_angular_velocity_rad_s":[-1.1578713899877196e-15,1.941742517651558e-15,-3.35476579254347e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313514000321002,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510476840981,-1.5920601315402758,1.3065930865570585,-1.3102052951295582,-1.570794930653739,-0.4147141519449596,0.0],"actuator_force":[0.0004309535679567489,-19.8046134995966,-20.28255894184258,-2.4140336294622102,0.0006263064682343611,-3.6122683866324223e-06,-0.29335461331230556],"issued_joint_targets_rad":[-1.9855104625049986,-1.582157011995574,1.3167376508672541,-1.3053782799731115,-1.5707961945165685,-0.414714137401008],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.379999999998578,"joint_targets_rad":[-1.9855104625049986,-1.582157011995574,1.3167376508672541,-1.3053782799731115,-1.5707961945165685,-0.414714137401008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.399999999998567,"qpos":[-1.985511921381257,-1.5822177649913478,1.3169780481433544,-1.3055809286624733,-1.5707955789538786,-0.4147147972263567,0.0029334912957409537,0.00015629833254450956,0.0031933670011289198,-0.003429176885809629,0.0029334925006238733,0.00015630266245076447,0.003197762563670164,-0.003437869595716779,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,5.52350544053699e-18,-1.0209969921214821e-16,-1.6346446709173268e-07],"qvel":[6.316246696415105e-06,0.00030077645460766216,-0.0012179041549436518,0.0010190751559386354,-3.089097530233526e-06,3.332610185314906e-06,6.083015515002941e-07,1.5258797284273554e-08,5.738508126776438e-07,-6.166901756537641e-07,6.025585871714031e-07,-6.4248815240870585e-09,4.584909266249317e-07,-6.416369664677684e-07,1.6611626989916426e-16,-1.985393607181295e-17,6.197286978547906e-15,-4.2328172039640865e-15,-3.198364175483154e-16,-6.124955153309813e-08],"joint_position_rad":[-1.985511921381257,-1.5822177649913478,1.3169780481433544,-1.3055809286624733,-1.5707955789538786,-0.4147147972263567],"joint_velocity_rad_s":[6.316246696415105e-06,0.00030077645460766216,-0.0012179041549436518,0.0010190751559386354,-3.089097530233526e-06,3.332610185314906e-06],"linkage_position_rad":[0.0029334912957409537,0.00015629833254450956,0.0031933670011289198,-0.003429176885809629,0.0029334925006238733,0.00015630266245076447,0.003197762563670164,-0.003437869595716779],"tcp_position_m":[0.06812344328778662,0.48730311901496975,0.43493383072822556],"tcp_quaternion_wxyz":[-4.753276740516213e-06,0.7071070630402867,0.7071064992280511,1.119804261983183e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,5.52350544053699e-18,-1.0209969921214821e-16,-1.6346446709173268e-07],"object_linear_velocity_m_s":[1.6611626989916426e-16,-1.985393607181295e-17,6.197286978547906e-15],"object_angular_velocity_rad_s":[-4.2328172960205175e-15,-3.198350330412588e-16,-6.124955153309813e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513924567518,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510462424072,-1.592060075100133,1.3065928974073349,-1.3102050544495583,-1.5707949445961265,-0.41471413736996526,0.0],"actuator_force":[0.000391415691410657,-19.80493079941334,-20.283139810061584,-2.4139704091363683,0.0006260886290192502,-3.332822842594396e-06,-0.2933552441189347],"issued_joint_targets_rad":[-1.9855104494278206,-1.5821568841197893,1.3167374360245625,-1.3053780685907084,-1.570796206953551,-0.41471412419179954],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.399999999998567,"joint_targets_rad":[-1.9855104494278206,-1.5821568841197893,1.3167374360245625,-1.3053780685907084,-1.570796206953551,-0.41471412419179954],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.419999999998556,"qpos":[-1.985511798940534,-1.5822120398278072,1.3169549193522316,-1.3055615649959667,-1.5707956387681992,-0.41471473277685544,0.002933502884058982,0.00015629864811789074,0.003193377870317911,-0.0034291886888922927,0.0029335039616764564,0.00015630251433025653,0.003197771012313536,-0.0034378818896689104,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-1.398373445591478e-17,-7.925226003122167e-17,-1.6374939639349998e-07],"qvel":[5.859184759247121e-06,0.0002731173988405444,-0.0011018018488834667,0.0009227720516542975,-2.8512060792891678e-06,3.0738069172450256e-06,5.497351450194671e-07,1.3791247856404288e-08,5.185760745155863e-07,-5.572756696044446e-07,5.445397638500602e-07,-5.831127521494821e-09,4.1413666596355255e-07,-5.798840513111262e-07,2.2253417182316807e-16,-7.487731981511671e-17,6.337452635406832e-15,-5.893046709954833e-15,-6.55762700406826e-15,-1.1182621366129734e-07],"joint_position_rad":[-1.985511798940534,-1.5822120398278072,1.3169549193522316,-1.3055615649959667,-1.5707956387681992,-0.41471473277685544],"joint_velocity_rad_s":[5.859184759247121e-06,0.0002731173988405444,-0.0011018018488834667,0.0009227720516542975,-2.8512060792891678e-06,3.0738069172450256e-06],"linkage_position_rad":[0.002933502884058982,0.00015629864811789074,0.003193377870317911,-0.0034291886888922927,0.0029335039616764564,0.00015630251433025653,0.003197771012313536,-0.0034378818896689104],"tcp_position_m":[0.0681234553346234,0.48730325227386234,0.43494024612685733],"tcp_quaternion_wxyz":[-4.370387726678337e-06,0.7071070425458911,0.7071065197386505,1.0295419449099855e-05],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-1.398373445591478e-17,-7.925226003122167e-17,-1.6374939639349998e-07],"object_linear_velocity_m_s":[2.2253417182316807e-16,-7.487731981511671e-17,6.337452635406832e-15],"object_angular_velocity_rad_s":[-5.8930488398444855e-15,-6.557625077229725e-15,-1.1182621366129737e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513856137988,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551044936173,-1.592060024803625,1.3065927266525021,-1.310204836574326,-1.5707949572320898,-0.41471412416325387,0.0],"actuator_force":[0.0003554837039700942,-19.8052169111711,-20.283664659905753,-2.4139129943450826,0.0006258886625118976,-3.0738909515548585e-06,-0.2933558136613163],"issued_joint_targets_rad":[-1.9855104375809187,-1.582156768661756,1.3167372419602144,-1.305377877342964,-1.5707962182217925,-0.41471411222272964],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.419999999998556,"joint_targets_rad":[-1.9855104375809187,-1.582156768661756,1.3167372419602144,-1.305377877342964,-1.5707962182217925,-0.41471411222272964],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.439999999998545,"qpos":[-1.9855116854134434,-1.5822068412538595,1.3169339954309172,-1.3055440312313442,-1.5707956939564198,-0.4147146733519116,0.002933513356165063,0.00015629893333814985,0.003193387692296093,-0.003429199354171351,0.0029335143186688672,0.00015630237999454108,0.0031977786431084828,-0.0034378929999374246,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-2.8850913061882905e-17,-7.694362198762673e-17,-1.641735798589056e-07],"qvel":[5.4323544845670305e-06,0.0002479937431758297,-0.000996767617153662,0.0008355680291409109,-2.6306891119341097e-06,2.834118063207745e-06,4.967651323886445e-07,1.2464769407332002e-08,4.685855085984145e-07,-5.035442267074199e-07,4.920652459842484e-07,-5.291899055930676e-09,3.7403394135220103e-07,-5.240338288394968e-07,9.769125610164798e-17,-3.208000229577724e-17,6.3721471049263714e-15,6.769012623153973e-16,2.9945829837732236e-15,-1.2115454486614035e-08],"joint_position_rad":[-1.9855116854134434,-1.5822068412538595,1.3169339954309172,-1.3055440312313442,-1.5707956939564198,-0.4147146733519116],"joint_velocity_rad_s":[5.4323544845670305e-06,0.0002479937431758297,-0.000996767617153662,0.0008355680291409109,-2.6306891119341097e-06,2.834118063207745e-06],"linkage_position_rad":[0.002933513356165063,0.00015629893333814985,0.003193387692296093,-0.003429199354171351,0.0029335143186688672,0.00015630237999454108,0.0031977786431084828,-0.0034378929999374246],"tcp_position_m":[0.06812346555055546,0.4873033738373613,0.43494603921729946],"tcp_quaternion_wxyz":[-4.017117073086347e-06,0.7071070234251864,0.7071065388730995,9.462620239591617e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-2.8850913061882905e-17,-7.694362198762673e-17,-1.641735798589056e-07],"object_linear_velocity_m_s":[9.769125610164798e-17,-3.208000229577724e-17,6.3721471049263714e-15],"object_angular_velocity_rad_s":[6.76902247442592e-16,2.994582760815372e-15,-1.2115454486614038e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513794332587,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855104375269432,-1.5920599799567645,1.3065925724591516,-1.3102046393325792,-1.5707949686839269,-0.4147141121964887,0.0],"actuator_force":[0.0003228312061764882,-19.805474903080267,-20.284138896669447,-2.4138608535316735,0.0006257051576312733,-2.8340948574623326e-06,-0.29335632789358834],"issued_joint_targets_rad":[-1.9855104268486459,-1.5821566643889897,1.3167370666283227,-1.3053777043027819,-1.5707962284310295,-0.4147141013774647],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.439999999998545,"joint_targets_rad":[-1.9855104268486459,-1.5821566643889897,1.3167370666283227,-1.3053777043027819,-1.5707962284310295,-0.4147141013774647],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.459999999998534,"qpos":[-1.985511580203883,-1.5822021209854649,1.3169150661839857,-1.305528154469034,-1.5707957448587015,-0.4147146185781701,0.0029335228188241014,0.0001562991911267577,0.003193396567220318,-0.0034292089906206727,0.002933523677205715,0.00015630225816407194,0.003197785534482462,-0.0034379030397834543,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-4.8385872079733964e-17,-7.608831799130254e-17,-1.646548466176373e-07],"qvel":[5.034093977742795e-06,0.00022517403797141613,-0.0009017464878037178,0.0007566035728213014,-2.4263870897321323e-06,2.6122454370285735e-06,4.4886470430705307e-07,1.1265849788943811e-08,4.2338161025171256e-07,-4.5495976476235086e-07,4.446131540281867e-07,-4.802232955816954e-09,3.3778245297226507e-07,-4.735302206152213e-07,9.935156490690033e-17,-5.917647834655891e-17,6.5109249830045144e-15,3.67062818934455e-16,2.1117786602651732e-15,-2.2119760359253647e-08],"joint_position_rad":[-1.985511580203883,-1.5822021209854649,1.3169150661839857,-1.305528154469034,-1.5707957448587015,-0.4147146185781701],"joint_velocity_rad_s":[5.034093977742795e-06,0.00022517403797141613,-0.0009017464878037178,0.0007566035728213014,-2.4263870897321323e-06,2.6122454370285735e-06],"linkage_position_rad":[0.0029335228188241014,0.0001562991911267577,0.003193396567220318,-0.0034292089906206727,0.002933523677205715,0.00015630225816407194,0.003197785534482462,-0.0034379030397834543],"tcp_position_m":[0.06812347416710134,0.48730348471580054,0.43495127039508286],"tcp_quaternion_wxyz":[-3.691316042514242e-06,0.707107005599612,0.7071065567103221,8.694585651738394e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-4.8385872079733964e-17,-7.608831799130254e-17,-1.646548466176373e-07],"object_linear_velocity_m_s":[9.935156490690033e-17,-5.917647834655891e-17,6.5109249830045144e-15],"object_angular_velocity_rad_s":[3.6706351772972842e-16,2.1117785372471472e-15,-2.2119760359253657e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513738516829,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510426804564,-1.592059939948444,1.306592433184545,-1.3102044607617176,-1.5707949790625049,-0.4147141013533499,0.0],"actuator_force":[0.00029316104655663366,-19.805707541146603,-20.28456740375941,-2.413813503623942,0.0006255368073198042,-2.6121336134110607e-06,-0.29335679219078253],"issued_joint_targets_rad":[-1.9855104171262115,-1.582156570196104,1.316736908190962,-1.3053775477291794,-1.5707962376807105,-0.41471409155056727],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.459999999998534,"joint_targets_rad":[-1.9855104171262115,-1.582156570196104,1.316736908190962,-1.3053775477291794,-1.5707962376807105,-0.41471409155056727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.479999999998522,"qpos":[-1.9855114827493927,-1.5821978351481165,1.3168979414521675,-1.3055137781423904,-1.570795791792225,-0.41471456810790647,0.0029335313687305587,0.00015629942412364765,0.0031934045858084945,-0.003429217696905922,0.002933532132931954,0.0001563021476778105,0.0031977917574814697,-0.003437912111761547,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-5.5488777170431923e-17,-7.422165879803628e-17,-1.6506812691962633e-07],"qvel":[4.6627890671671635e-06,0.00020444783915912458,-0.0008157840010031664,0.000685100331254575,-2.237204533619631e-06,2.4069652768583597e-06,4.055551365776608e-07,1.018218179233239e-08,3.8251198895009633e-07,-4.1103577081022885e-07,4.01709236130789e-07,-4.357628634027908e-09,3.0501845392790867e-07,-4.2786684905463154e-07,1.1210379161063713e-16,-8.097040213916392e-17,6.578926143262808e-15,-4.112666078473886e-16,1.303154435778442e-16,-4.038509648081204e-08],"joint_position_rad":[-1.9855114827493927,-1.5821978351481165,1.3168979414521675,-1.3055137781423904,-1.570795791792225,-0.41471456810790647],"joint_velocity_rad_s":[4.6627890671671635e-06,0.00020444783915912458,-0.0008157840010031664,0.000685100331254575,-2.237204533619631e-06,2.4069652768583597e-06],"linkage_position_rad":[0.0029335313687305587,0.00015629942412364765,0.0031934045858084945,-0.003429217696905922,0.002933532132931954,0.0001563021476778105,0.0031977917574814697,-0.003437912111761547],"tcp_position_m":[0.06812348138915167,0.48730358583409505,0.4349559941913081],"tcp_quaternion_wxyz":[-3.390974532084707e-06,0.7071069889934143,0.7071065733263855,7.986581352122644e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-5.5488777170431923e-17,-7.422165879803628e-17,-1.6506812691962633e-07],"object_linear_velocity_m_s":[1.1210379161063713e-16,-8.097040213916392e-17,6.578926143262808e-15],"object_angular_velocity_rad_s":[-4.1126655883061715e-16,1.3031557487001419e-16,-4.0385096480812063e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513688115727,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855104170902091,-1.5920599042397778,1.3065923073554082,-1.3102042990874112,-1.5707949884683272,-0.4147140915284131,0.0],"actuator_force":[0.0002662027400219813,-19.80591731898585,-20.284954593117618,-2.4137705056358527,0.0006253824024042842,-2.4067810215910868e-06,-0.29335721140498916],"issued_joint_targets_rad":[-1.9855104083186623,-1.5821564850908632,1.3167367649958779,-1.3053774060490166,-1.5707962460609581,-0.41471408264648163],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.479999999998522,"joint_targets_rad":[-1.9855104083186623,-1.5821564850908632,1.3167367649958779,-1.3053774060490166,-1.5707962460609581,-0.41471408264648163],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.499999999998511,"qpos":[-1.9855113925200465,-1.5821939438763797,1.3168824492032012,-1.3055007604752908,-1.5707958350524953,-0.41471452161752137,0.002933539093431693,0.00015629963471447568,0.003193411830199827,-0.00342922556234595,0.0029335397724455097,0.0001563020474817154,0.0031977973764375526,-0.003437920308708449,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-6.082914778925307e-17,-7.214401394133395e-17,-1.6544054871429095e-07],"qvel":[4.316878672281658e-06,0.0001856238189776062,-0.0007380166425344947,0.0006203534568308151,-2.062108255777079e-06,2.2171257641562875e-06,3.664017150775955e-07,9.202726911978836e-09,3.4556597994838077e-07,-3.713306682456232e-07,3.629228245412607e-07,-3.953984348103285e-09,2.7541125357813746e-07,-3.865855969939897e-07,1.4597047757484734e-16,-1.322877829521089e-16,6.627498400590162e-15,-4.200410207253336e-15,-3.1084406858217465e-15,-7.37329876669415e-08],"joint_position_rad":[-1.9855113925200465,-1.5821939438763797,1.3168824492032012,-1.3055007604752908,-1.5707958350524953,-0.41471452161752137],"joint_velocity_rad_s":[4.316878672281658e-06,0.0001856238189776062,-0.0007380166425344947,0.0006203534568308151,-2.062108255777079e-06,2.2171257641562875e-06],"linkage_position_rad":[0.002933539093431693,0.00015629963471447568,0.003193411830199827,-0.00342922556234595,0.0029335397724455097,0.0001563020474817154,0.0031977973764375526,-0.003437920308708449],"tcp_position_m":[0.06812348739784285,0.4873036780387363,0.4349602598423853],"tcp_quaternion_wxyz":[-3.114214357778292e-06,0.7071069735337869,0.7071065887943622,7.33418253560509e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-6.082914778925307e-17,-7.214401394133395e-17,-1.6544054871429095e-07],"object_linear_velocity_m_s":[1.4597047757484734e-16,-1.322877829521089e-16,6.627498400590162e-15],"object_angular_velocity_rad_s":[-4.200411225138588e-15,-3.1084393049554706e-15,-7.373298766694155e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513642608487,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510408289258,-1.592059872354934,1.306592193649307,-1.3102041527052524,-1.5707949969924984,-0.4147140826261345,0.0],"actuator_force":[0.00024171010772988666,-19.806106484699285,-20.28530445077422,-2.4137314606638256,0.0006252408239788565,-2.21688299006928e-06,-0.29335758991655825],"issued_joint_targets_rad":[-1.985510400339963,-1.5821564081819162,1.3167366355567867,-1.3053772778405606,-1.5707962536534406,-0.4147140745786052],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.499999999998511,"joint_targets_rad":[-1.985510400339963,-1.5821564081819162,1.3167366355567867,-1.3053772778405606,-1.5707962536534406,-0.4147140745786052],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.5199999999985,"qpos":[-1.9855113090172662,-1.582190410949495,1.3168684338044319,-1.3054889730853187,-1.5707958749146096,-0.41471447880609036,0.0029335460721716146,0.0001562998250552909,0.003193418374749484,-0.0034292326677668895,0.0029335466741318194,0.00015630195661970014,0.003197802449582493,-0.003437927714649183,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-5.694638548986807e-17,-6.185438194340458e-17,-1.6572023549969884e-07],"qvel":[3.99485879234766e-06,0.00016852804398164345,-0.0006676631858396361,0.0005617246678650434,-1.9001253534440663e-06,2.0416443890896246e-06,3.3100991086496727e-07,8.317470588967644e-09,3.1217124702001877e-07,-3.3544288311452105e-07,3.278630603716981e-07,-3.5875338211383457e-09,2.4866077607879663e-07,-3.4926940200484826e-07,7.513435665107391e-17,-6.853907002966713e-17,6.698275118410014e-15,2.2349653690083507e-15,2.6879707425837893e-15,-7.988365401931453e-09],"joint_position_rad":[-1.9855113090172662,-1.582190410949495,1.3168684338044319,-1.3054889730853187,-1.5707958749146096,-0.41471447880609036],"joint_velocity_rad_s":[3.99485879234766e-06,0.00016852804398164345,-0.0006676631858396361,0.0005617246678650434,-1.9001253534440663e-06,2.0416443890896246e-06],"linkage_position_rad":[0.0029335460721716146,0.0001562998250552909,0.003193418374749484,-0.0034292326677668895,0.0029335466741318194,0.00015630195661970014,0.003197802449582493,-0.003437927714649183],"tcp_position_m":[0.06812349235313682,0.4873037621042467,0.4349641118043891],"tcp_quaternion_wxyz":[-2.859282541828594e-06,0.7071069591509698,0.707106603184241,6.733258397082787e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-5.694638548986807e-17,-6.185438194340458e-17,-1.6572023549969884e-07],"object_linear_velocity_m_s":[7.513435665107391e-17,-6.853907002966713e-17,6.698275118410014e-15],"object_angular_velocity_rad_s":[2.2349662608987496e-15,2.687970000915852e-15,-7.98836540193146e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513601523564,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855104003159474,-1.5920598438732385,1.3065920908782667,-1.3102040201642355,-1.5707950047176018,-0.414714074559923,0.0],"actuator_force":[0.00021945912067167228,-19.806277065079485,-20.28562057799445,-2.4136960062448907,0.0006251110391986003,-2.04135523063087e-06,-0.2933579316800279],"issued_joint_targets_rad":[-1.9855103931121603,-1.5821563386679691,1.3167365185359288,-1.3053771618187189,-1.5707962605321637,-0.41471406726845494],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.5199999999985,"joint_targets_rad":[-1.9855103931121603,-1.5821563386679691,1.3167365185359288,-1.3053771618187189,-1.5707962605321637,-0.41471406726845494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.53999999999849,"qpos":[-1.985511231772575,-1.5821872034598368,1.316855754459895,-1.305478299718802,-1.570795911634472,-0.41471443939397334,0.0029335523766609835,0.00015629999709441554,0.0031934242867445433,-0.0034292390863020594,0.00293355290892484,0.0001563018742238982,0.003197807029609967,-0.0034379344056068165,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-5.660015250870374e-17,-6.341894444761642e-17,-1.6617421712009144e-07],"qvel":[3.695285315735842e-06,0.00015300240603601718,-0.00060401685672186,0.0005086359649122412,-1.7503410455323453e-06,1.8795051362556243e-06,2.9902181756656166e-07,7.517365018822681e-09,2.8198965370891015e-07,-3.0300905527364175e-07,2.96175357255119e-07,-3.2549134274238304e-09,2.244944977377106e-07,-3.155412718604023e-07,7.782421584047557e-17,-7.027269608108627e-17,6.713540684998611e-15,2.0021968119125647e-15,2.070772077306817e-15,-1.4584737910418724e-08],"joint_position_rad":[-1.985511231772575,-1.5821872034598368,1.316855754459895,-1.305478299718802,-1.570795911634472,-0.41471443939397334],"joint_velocity_rad_s":[3.695285315735842e-06,0.00015300240603601718,-0.00060401685672186,0.0005086359649122412,-1.7503410455323453e-06,1.8795051362556243e-06],"linkage_position_rad":[0.0029335523766609835,0.00015629999709441554,0.0031934242867445433,-0.0034292390863020594,0.00293355290892484,0.0001563018742238982,0.003197807029609967,-0.0034379344056068165],"tcp_position_m":[0.06812349639613703,0.48730383873912736,0.43496759021742165],"tcp_quaternion_wxyz":[-2.6245446621221447e-06,0.7071069457783025,0.7071066165628773,6.179956698894889e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-5.660015250870374e-17,-6.341894444761642e-17,-1.6617421712009144e-07],"object_linear_velocity_m_s":[7.782421584047557e-17,-7.027269608108627e-17,6.713540684998611e-15],"object_angular_velocity_rad_s":[2.0021975019802102e-15,2.070771410228732e-15,-1.4584737910418737e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513564434169,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103930925453,-1.5920598184223465,1.3065919979743295,-1.3102039001519044,-1.570795011718494,-0.414714067251306,0.0],"actuator_force":[0.00019924593334508245,-19.806430887433635,-20.285906228441945,-2.41366381304249,0.0006249920936625131,-1.8791799618611549e-06,-0.29335824026516527],"issued_joint_targets_rad":[-1.985510386564624,-1.582156275828222,1.3167364127285848,-1.3053770568217387,-1.5707962667641882,-0.4147140606449056],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.53999999999849,"joint_targets_rad":[-1.985510386564624,-1.582156275828222,1.3167364127285848,-1.3053770568217387,-1.5707962667641882,-0.4147140606449056],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.559999999998478,"qpos":[-1.9855111603463116,-1.5821842915113107,1.3168442837962382,-1.3054686351052698,-1.5707959454499696,-0.41471440312148256,0.002933558071779026,0.00015630015259260978,0.0031934296270650355,-0.0034292448841036836,0.0029335585410012696,0.00015630179950709277,0.003197811164186963,-0.0034379404503632163,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-6.074557552210892e-17,-7.552192798831524e-17,-1.6662790714604916e-07],"qvel":[3.416775835905221e-06,0.0001389031929871153,-0.0005464382428494103,0.0004605639398797105,-1.6118963535216194e-06,1.7297556048647245e-06,2.7011293677687695e-07,6.794199456044634e-09,2.5471457188123036e-07,-2.736996854826984e-07,2.675382260818128e-07,-2.9530342810972403e-09,2.0266535942653567e-07,-2.850589209951507e-07,1.0050023363145415e-16,-8.266335919676882e-17,6.777378508914557e-15,1.15070427043425e-15,7.2080631263857855e-16,-2.6628048319392868e-08],"joint_position_rad":[-1.9855111603463116,-1.5821842915113107,1.3168442837962382,-1.3054686351052698,-1.5707959454499696,-0.41471440312148256],"joint_velocity_rad_s":[3.416775835905221e-06,0.0001389031929871153,-0.0005464382428494103,0.0004605639398797105,-1.6118963535216194e-06,1.7297556048647245e-06],"linkage_position_rad":[0.002933558071779026,0.00015630015259260978,0.0031934296270650355,-0.0034292448841036836,0.0029335585410012696,0.00015630179950709277,0.003197811164186963,-0.0034379404503632163],"tcp_position_m":[0.06812349965116048,0.487303908591332,0.43497073132484204],"tcp_quaternion_wxyz":[-2.4084783160640793e-06,0.7071069333522426,0.7071066289939791,5.670688572063151e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-6.074557552210892e-17,-7.552192798831524e-17,-1.6662790714604916e-07],"object_linear_velocity_m_s":[1.0050023363145415e-16,-8.266335919676882e-17,6.777378508914557e-15],"object_angular_velocity_rad_s":[1.1507045146690846e-15,7.208059259245777e-16,-2.6628048319392898e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513530954143,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510386548603,-1.592059795672334,1.3065919139767905,-1.3102037914809583,-1.5707950180630266,-0.41471406062916816,0.0],"actuator_force":[0.00018088508250002633,-19.806569599241357,-20.286164341755466,-2.413634581832298,0.0006248831068660365,-1.7294032659265213e-06,-0.29335851889482906],"issued_joint_targets_rad":[-1.9855103806333618,-1.5821562190138976,1.3167363170493194,-1.3053769617992315,-1.5707962724102797,-0.4147140546435028],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.559999999998478,"joint_targets_rad":[-1.9855103806333618,-1.5821562190138976,1.3167363170493194,-1.3053769617992315,-1.5707962724102797,-0.4147140546435028],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.579999999998467,"qpos":[-1.9855110943263272,-1.5821816479450113,1.31683390658334,-1.305459883920066,-1.5707959765820887,-0.4147143697476129,0.0029335632162126044,0.0001563002931411374,0.003193434450780695,-0.003429250121001633,0.0029335636284125123,0.00015630173175491214,0.0031978148964228684,-0.003437945911127426,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-6.564868907935199e-17,-8.235716865878235e-17,-1.670632573616083e-07],"qvel":[3.158010623134293e-06,0.00012609978690912945,-0.0004943488775064173,0.00041703462199789833,-1.4839857252342932e-06,1.5915040652751791e-06,2.4398920003837373e-07,6.140615449872414e-09,2.3006848244363909e-07,-2.472157455184976e-07,2.416603227069505e-07,-2.6790132630363235e-09,1.829497133845074e-07,-2.575119336586613e-07,1.27853689498951e-16,-1.0625561679921253e-16,6.856481899419101e-15,-8.90417645729677e-16,-8.157405824475726e-16,-4.8616091811525196e-08],"joint_position_rad":[-1.9855110943263272,-1.5821816479450113,1.31683390658334,-1.305459883920066,-1.5707959765820887,-0.4147143697476129],"joint_velocity_rad_s":[3.158010623134293e-06,0.00012609978690912945,-0.0004943488775064173,0.00041703462199789833,-1.4839857252342932e-06,1.5915040652751791e-06],"linkage_position_rad":[0.0029335632162126044,0.0001563002931411374,0.003193434450780695,-0.003429250121001633,0.0029335636284125123,0.00015630173175491214,0.0031978148964228684,-0.003437945911127426],"tcp_position_m":[0.06812350222759772,0.487303972253314,0.434973567851751],"tcp_quaternion_wxyz":[-2.209666742063922e-06,0.7071069218123571,0.707106640538121,5.202113643673361e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-6.564868907935199e-17,-8.235716865878235e-17,-1.670632573616083e-07],"object_linear_velocity_m_s":[1.27853689498951e-16,-1.0625561679921253e-16,6.856481899419101e-15],"object_angular_velocity_rad_s":[-8.904179102824199e-16,-8.157402913185502e-16,-4.861609181152526e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513500734205,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510380620276,-1.5920597753305672,1.3065918380209025,-1.3102036930771868,-1.5707950238127002,-0.4147140546290643,0.0],"actuator_force":[0.00016420785277659888,-19.8066946858753,-20.28639757387282,-2.4136080407600957,0.0006247832667440889,-1.5911322464035038e-06,-0.29335877047886955],"issued_joint_targets_rad":[-1.985510375260396,-1.582156167640731,1.3167362305197423,-1.305376875801389,-1.5707962775255007,-0.41471404920583604],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.579999999998467,"joint_targets_rad":[-1.985510375260396,-1.582156167640731,1.3167362305197423,-1.305376875801389,-1.5707962775255007,-0.41471404920583604],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.599999999998456,"qpos":[-1.9855110333266763,-1.582179248089712,1.316824518576809,-1.3054519598449001,-1.5707960052359866,-0.41471433904883326,0.0029335678630377582,0.00015630042017801747,0.003193438807697216,-0.0034292548510963024,0.0029335682236598442,0.0001563016703193857,0.0031978182652958077,-0.003437950844158315,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-6.320341578751774e-17,-7.44424976888413e-17,-1.6738820661050024e-07],"qvel":[2.917732898741412e-06,0.00011447347876852052,-0.0004472254336517624,0.0003776188100286005,-1.3658546105086221e-06,1.4639165203438779e-06,2.2038415386065943e-07,5.5499132089528956e-09,2.0779975045685377e-07,-2.232868645672894e-07,2.1827765933776677e-07,-2.4303337424056223e-09,1.6514459776306552e-07,-2.3261933360664986e-07,1.6610572578863727e-16,-1.68627726699925e-16,6.953626414073802e-15,-5.926288372458285e-15,-4.073445068279138e-15,-8.876070655562963e-08],"joint_position_rad":[-1.9855110333266763,-1.582179248089712,1.316824518576809,-1.3054519598449001,-1.5707960052359866,-0.41471433904883326],"joint_velocity_rad_s":[2.917732898741412e-06,0.00011447347876852052,-0.0004472254336517624,0.0003776188100286005,-1.3658546105086221e-06,1.4639165203438779e-06],"linkage_position_rad":[0.0029335678630377582,0.00015630042017801747,0.003193438807697216,-0.0034292548510963024,0.0029335682236598442,0.0001563016703193857,0.0031978182652958077,-0.003437950844158315],"tcp_position_m":[0.0681235042215752,0.48730403026665825,0.4349761293466944],"tcp_quaternion_wxyz":[-2.0267926219440864e-06,0.7071069111012875,0.7071066512527819,4.771125569422443e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-6.320341578751774e-17,-7.44424976888413e-17,-1.6738820661050024e-07],"object_linear_velocity_m_s":[1.6610572578863727e-16,-1.68627726699925e-16,6.953626414073802e-15],"object_angular_velocity_rad_s":[-5.9262897229361564e-15,-4.073443095517312e-15,-8.876070655562975e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351347345849,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103752497076,-1.592059757137246,1.3065917693278626,-1.3102036039685927,-1.5707950290232593,-0.41471404919259247,0.0],"actuator_force":[0.00014906077785781235,-19.806807486575053,-20.28660832443211,-2.4135839428491863,0.0006246918246688438,-1.4635316460953618e-06,-0.2933589976439461],"issued_joint_targets_rad":[-1.9855103703931984,-1.5821561211822943,1.316736152257592,-1.3053767979692597,-1.5707962821597419,-0.41471404427897623],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.599999999998456,"joint_targets_rad":[-1.9855103703931984,-1.5821561211822943,1.316736152257592,-1.3053767979692597,-1.5707962821597419,-0.41471404427897623],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.619999999998445,"qpos":[-1.9855109769863128,-1.5821770695349557,1.3168160254707577,-1.305444784717116,-1.5707960316020106,-0.41471431081793997,0.0029335720602483763,0.00015630053500298913,0.0031934427428508736,-0.0034292591233057133,0.0029335723742172485,0.00015630161461249078,0.0031978213060410094,-0.0034379553003262724,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-6.432264041380156e-17,-6.598671243524078e-17,-1.6772489711325352e-07],"qvel":[2.6947485319826274e-06,0.0001039163892845442,-0.00040459447043863345,0.00034192784499572997,-1.2567969981974172e-06,1.3462137546968314e-06,1.9905648740539322e-07,5.016048000592127e-09,1.876805659869809e-07,-2.0166782995024644e-07,1.971511573112311e-07,-2.2046728111269884e-09,1.490661683769429e-07,-2.1012730123162017e-07,8.17900071663899e-17,-7.835012751853476e-17,7.028566468236001e-15,2.24781097334617e-15,2.77157025226797e-15,-9.616495679014573e-09],"joint_position_rad":[-1.9855109769863128,-1.5821770695349557,1.3168160254707577,-1.305444784717116,-1.5707960316020106,-0.41471431081793997],"joint_velocity_rad_s":[2.6947485319826274e-06,0.0001039163892845442,-0.00040459447043863345,0.00034192784499572997,-1.2567969981974172e-06,1.3462137546968314e-06],"linkage_position_rad":[0.0029335720602483763,0.00015630053500298913,0.0031934427428508736,-0.0034292591233057133,0.0029335723742172485,0.00015630161461249078,0.0031978213060410094,-0.0034379553003262724],"tcp_position_m":[0.06812350571744444,0.4873040831263504,0.4349784424901647],"tcp_quaternion_wxyz":[-1.8586320975149494e-06,0.7071069011646964,0.7071066611924015,4.374838043305329e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-6.432264041380156e-17,-6.598671243524078e-17,-1.6772489711325352e-07],"object_linear_velocity_m_s":[8.17900071663899e-17,-7.835012751853476e-17,7.028566468236001e-15],"object_angular_velocity_rad_s":[2.2478119043378394e-15,2.771569497002973e-15,-9.616495679014587e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513448841446,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103703844679,-1.5920597408615162,1.3065917071959123,-1.310203523275578,-1.5707950337452279,-0.41471404426683156,0.0],"actuator_force":[0.0001353042771370383,-19.806909208834895,-20.286798761515456,-2.4135620637306374,0.0006246080912433172,-1.3458212606565212e-06,-0.2933592027615048],"issued_joint_targets_rad":[-1.9855103659841795,-1.58215607916406,1.316736081467006,-1.3053767275259818,-1.5707962863582097,-0.414714039814959],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.619999999998445,"joint_targets_rad":[-1.9855103659841795,-1.58215607916406,1.316736081467006,-1.3053767275259818,-1.5707962863582097,-0.414714039814959],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.639999999998434,"qpos":[-1.9855109249678033,-1.5821750919247195,1.3168083419503744,-1.3054382877592852,-1.5707960558566643,-0.4147142848629696,0.002933575851236548,0.00015630063879051525,0.003193446296960388,-0.0034292629818465396,0.0029335761230065813,0.0001563015641010601,0.0031978240505026773,-0.0034379593256295424,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-8.200469048841669e-17,-7.400242313418149e-17,-1.6821037596733958e-07],"qvel":[2.487925250291952e-06,9.433048665084457e-05,-0.00036602767969402816,0.00030960978181259976,-1.1561529865148973e-06,1.2376684541570252e-06,1.7978771510873584e-07,4.5335160251517e-09,1.6950440752655237e-07,-1.8213721233571099e-07,1.780643546313477e-07,-1.999898480691407e-09,1.345483075261337e-07,-1.8980509826922623e-07,9.173250989285885e-17,-1.0178452855345618e-16,7.0549342650708504e-15,1.961566455666592e-15,1.9070926644574778e-15,-1.7557292642271917e-08],"joint_position_rad":[-1.9855109249678033,-1.5821750919247195,1.3168083419503744,-1.3054382877592852,-1.5707960558566643,-0.4147142848629696],"joint_velocity_rad_s":[2.487925250291952e-06,9.433048665084457e-05,-0.00036602767969402816,0.00030960978181259976,-1.1561529865148973e-06,1.2376684541570252e-06],"linkage_position_rad":[0.002933575851236548,0.00015630063879051525,0.003193446296960388,-0.0034292629818465396,0.0029335761230065813,0.0001563015641010601,0.0031978240505026773,-0.0034379593256295424],"tcp_position_m":[0.0681235067891118,0.4873041312846941,0.4349805313731192],"tcp_quaternion_wxyz":[-1.7040490113918604e-06,0.7071068919511986,0.7071066704084515,4.010571312541056e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-8.200469048841669e-17,-7.400242313418149e-17,-1.6821037596733958e-07],"object_linear_velocity_m_s":[9.173250989285885e-17,-1.0178452855345618e-16,7.0549342650708504e-15],"object_angular_velocity_rad_s":[1.9615670998505966e-15,1.9070920016661496e-15,-1.7557292642271944e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513426624975,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510365977048,-1.5920597262980811,1.30659165099243,-1.3102034502020892,-1.5707950380243991,-0.4147140398038246,0.0],"actuator_force":[0.0001228114101650135,-19.80700094138365,-20.286970844011194,-2.4135421995832758,0.00062453143118546,-1.237272925891375e-06,-0.2933593879725052],"issued_joint_targets_rad":[-1.9855103619902257,-1.5821560411581093,1.3167360174298166,-1.3053766637688784,-1.5707962901618644,-0.414714035770321],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.639999999998434,"joint_targets_rad":[-1.9855103619902257,-1.5821560411581093,1.3167360174298166,-1.3053766637688784,-1.5707962901618644,-0.414714035770321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.659999999998423,"qpos":[-1.985510876956065,-1.582173296769815,1.3168013908347733,-1.3054324048815587,-1.5707960781635244,-0.41471426100617176,0.0029335792752286202,0.00015630073260213513,0.003193449506834147,-0.003429266466690801,0.0029335795088288466,0.00015630151830116617,0.0031978265274583,-0.0034379629616397107,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-8.440746356153429e-17,-8.486427379111286e-17,-1.6863540345292144e-07],"qvel":[2.296191460626085e-06,8.562669258340203e-05,-0.0003311375849688385,0.00028034592224636086,-1.0633063681378439e-06,1.1376023596966159e-06,1.6238009824943245e-07,4.097413602283912e-09,1.53084696490859e-07,-1.644941684047311e-07,1.6082133872266918e-07,-1.814086892557993e-09,1.2144041959749044e-07,-1.7144439460763664e-07,1.1832499763984498e-16,-1.1579346798287398e-16,7.114608752644454e-15,7.380912195774465e-16,2.663914467558657e-16,-3.2055182596198126e-08],"joint_position_rad":[-1.985510876956065,-1.582173296769815,1.3168013908347733,-1.3054324048815587,-1.5707960781635244,-0.41471426100617176],"joint_velocity_rad_s":[2.296191460626085e-06,8.562669258340203e-05,-0.0003311375849688385,0.00028034592224636086,-1.0633063681378439e-06,1.1376023596966159e-06],"linkage_position_rad":[0.0029335792752286202,0.00015630073260213513,0.003193449506834147,-0.003429266466690801,0.0029335795088288466,0.00015630151830116617,0.0031978265274583,-0.0034379629616397107],"tcp_position_m":[0.06812350750122657,0.48730417515491203,0.4349824177484459],"tcp_quaternion_wxyz":[-1.56198939096388e-06,0.7071068834122788,0.7071066789495214,3.675839247627918e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-8.440746356153429e-17,-8.486427379111286e-17,-1.6863540345292144e-07],"object_linear_velocity_m_s":[1.1832499763984498e-16,-1.1579346798287398e-16,7.114608752644454e-15],"object_angular_velocity_rad_s":[7.380913148641428e-16,2.663911924078356e-16,-3.2055182596198185e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513406575817,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103619844006,-1.5920597132642342,1.3065916001468763,-1.3102033840276248,-1.5707950419022776,-0.41471403576011506,0.0],"actuator_force":[0.00011146674478368368,-19.807083665872142,-20.28712634180647,-2.4135241652578543,0.0006244612603722999,-1.1372076187399216e-06,-0.2933595552100582],"issued_joint_targets_rad":[-1.9855103583722753,-1.582156006778412,1.3167359594977743,-1.3053766060623224,-1.5707962936078195,-0.41471403210567714],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.659999999998423,"joint_targets_rad":[-1.9855103583722753,-1.582156006778412,1.3167359594977743,-1.3053766060623224,-1.5707962936078195,-0.41471403210567714],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.679999999998412,"qpos":[-1.9855108326571296,-1.5821716672773185,1.3167951023015396,-1.3054270780498995,-1.5707960986741085,-0.41471423908303984,0.002933582367680949,0.00015630081739727747,0.0031934524057428667,-0.003429269613962885,0.002933582566755667,0.00015630147677397698,0.0031978287629064197,-0.0034379662459437413,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-8.648089781583219e-17,-8.136060367070706e-17,-1.6903260372980416e-07],"qvel":[2.1185347600624636e-06,7.772406882398167e-05,-0.0002995736500606118,0.00025384767513258105,-9.776822636509454e-07,1.0453835053163562e-06,1.4665468623273118e-07,3.7032692454330808e-09,1.382524684695605e-07,-1.485568176719718e-07,1.452448147874395e-07,-1.6454933385925386e-09,1.0960628518061484e-07,-1.5485712007108092e-07,1.3723124691449544e-16,-1.4223039915208664e-16,6.862033014542235e-15,-2.3576134140591633e-15,-1.1202540591437773e-15,-5.852466847884304e-08],"joint_position_rad":[-1.9855108326571296,-1.5821716672773185,1.3167951023015396,-1.3054270780498995,-1.5707960986741085,-0.41471423908303984],"joint_velocity_rad_s":[2.1185347600624636e-06,7.772406882398167e-05,-0.0002995736500606118,0.00025384767513258105,-9.776822636509454e-07,1.0453835053163562e-06],"linkage_position_rad":[0.002933582367680949,0.00015630081739727747,0.0031934524057428667,-0.003429269613962885,0.002933582566755667,0.00015630147677397698,0.0031978287629064197,-0.0034379662459437413],"tcp_position_m":[0.06812350791024037,0.48730421511445265,0.4349841212579879],"tcp_quaternion_wxyz":[-1.4314761744947684e-06,0.7071068755021986,0.7071066868614121,3.368336970785669e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-8.648089781583219e-17,-8.136060367070706e-17,-1.6903260372980416e-07],"object_linear_velocity_m_s":[1.3723124691449544e-16,-1.4223039915208664e-16,6.862033014542235e-15],"object_angular_velocity_rad_s":[-2.357613783254751e-15,-1.120253272239181e-15,-5.852466847884316e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513388483245,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103583675169,-1.5920597015972642,1.3065915541445086,-1.3102033241000168,-1.5707950454164807,-0.41471403209632424,0.0],"actuator_force":[0.0001011653216664854,-19.807158267421073,-20.287266854037625,-2.4135077925718633,0.0006243970403829735,-1.044992728793659e-06,-0.2933597062193359],"issued_joint_targets_rad":[-1.9855103550949436,-1.5821559756766088,1.3167359070855793,-1.3053765538312982,-1.5707962967297007,-0.41471402878534047],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.679999999998412,"joint_targets_rad":[-1.9855103550949436,-1.5821559756766088,1.3167359070855793,-1.3053765538312982,-1.5707962967297007,-0.41471402878534047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.6999999999984,"qpos":[-1.98551079179695,-1.5821701881955124,1.316789413185185,-1.305422254713984,-1.570796117528692,-0.41471421894139787,0.0029335851606388645,0.00015630089404292837,0.003193455023755846,-0.003429272456310281,0.0029335853284844066,0.0001563014391215753,0.0031978307803348133,-0.003437969212506275,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999867,-7.654205990353123e-17,-7.158437707918597e-17,-1.6936101896984784e-07],"qvel":[1.954000187505535e-06,7.054907699234187e-05,-0.00027101875818149717,0.00022985371296828082,-8.987448139155904e-07,9.604235263781925e-07,1.3244957456317785e-07,3.347060691560669e-09,1.2485490490425938e-07,-1.34161095711207e-07,1.3117437555936573e-07,-1.4925504278628383e-09,9.892277214174376e-08,-1.3987198839968e-07,1.7797386168242513e-16,-1.5291495037319055e-16,6.1154080304818166e-15,-3.564985449894759e-15,-5.6813452366459464e-15,-1.068512653229105e-07],"joint_position_rad":[-1.98551079179695,-1.5821701881955124,1.316789413185185,-1.305422254713984,-1.570796117528692,-0.41471421894139787],"joint_velocity_rad_s":[1.954000187505535e-06,7.054907699234187e-05,-0.00027101875818149717,0.00022985371296828082,-8.987448139155904e-07,9.604235263781925e-07],"linkage_position_rad":[0.0029335851606388645,0.00015630089404292837,0.003193455023755846,-0.003429272456310281,0.0029335853284844066,0.0001563014391215753,0.0031978307803348133,-0.003437969212506275],"tcp_position_m":[0.06812350806535432,0.48730425150802503,0.43498565963751856],"tcp_quaternion_wxyz":[-1.311604191287721e-06,0.7071068681778979,0.7071066941872356,3.0859290685603152e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999867,-7.654205990353123e-17,-7.158437707918597e-17,-1.6936101896984784e-07],"object_linear_velocity_m_s":[1.7797386168242513e-16,-1.5291495037319055e-16,6.1154080304818166e-15],"object_angular_velocity_rad_s":[-3.564987358993639e-15,-5.68134404546373e-15,-1.0685126532291071e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513372156851,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103550910567,-1.5920596911521732,1.3065915125207637,-1.3102032698289123,-1.5707950486011004,-0.41471402877677105,0.0],"actuator_force":[9.181171162708779e-05,-19.807225544118864,-20.28739382556978,-2.4134929287611158,0.0006243382771344841,-9.600392161246418e-07,-0.2933598425759142],"issued_joint_targets_rad":[-1.9855103521261719,-1.5821559475382379,1.3167358596646372,-1.3053765065555871,-1.5707962995579752,-0.4147140257769718],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.6999999999984,"joint_targets_rad":[-1.9855103521261719,-1.5821559475382379,1.3167358596646372,-1.3053765065555871,-1.5707962995579752,-0.4147140257769718],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.71999999999839,"qpos":[-1.9855107541202455,-1.5821688456729344,1.3167842663424676,-1.3054178872891318,-1.5707961348570796,-0.4147142004405406,0.0029335876830619612,0.0001563009633227346,0.0031934573880461913,-0.003429275023232258,0.00293358782265989,0.000156301404982818,0.003197832600957337,-0.0034379718920291235,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-6.686538549328725e-17,-7.035050928266935e-17,-1.697663312711737e-07],"qvel":[1.8016883381288702e-06,6.403490527420087e-05,-0.00024518602645422113,0.00020812739694301308,-8.259949392791633e-07,8.821750876990038e-07,1.1961832553146745e-07,3.0251168940103672e-09,1.1275366082729384e-07,-1.2115836405838418e-07,1.1846494175631362e-07,-1.3537544986474187e-09,8.92786779035752e-08,-1.2633499824357718e-07,8.584801532218061e-17,-8.172923155786677e-17,6.134836933412757e-15,2.986978729830646e-15,2.7059054875820004e-15,-1.1576459574835005e-08],"joint_position_rad":[-1.9855107541202455,-1.5821688456729344,1.3167842663424676,-1.3054178872891318,-1.5707961348570796,-0.4147142004405406],"joint_velocity_rad_s":[1.8016883381288702e-06,6.403490527420087e-05,-0.00024518602645422113,0.00020812739694301308,-8.259949392791633e-07,8.821750876990038e-07],"linkage_position_rad":[0.0029335876830619612,0.0001563009633227346,0.0031934573880461913,-0.003429275023232258,0.00293358782265989,0.000156301404982818,0.003197832600957337,-0.0034379718920291235],"tcp_position_m":[0.06812350800936358,0.48730428465038444,0.43498704890180195],"tcp_quaternion_wxyz":[-1.2015353948014028e-06,0.7071068613988926,0.7071067009675222,2.8266383867644314e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-6.686538549328725e-17,-7.035050928266935e-17,-1.697663312711737e-07],"object_linear_velocity_m_s":[8.584801532218061e-17,-8.172923155786677e-17,6.134836933412757e-15],"object_angular_velocity_rad_s":[2.9869796502025877e-15,2.7059044718568737e-15,-1.1576459574835005e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513357424687,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103521229966,-1.5920596817996726,1.3065914748562333,-1.3102032206798813,-1.570795051487036,-0.4147140257691218,0.0],"actuator_force":[8.331916251336224e-05,-19.807286215586373,-20.287508561886625,-2.413479435069007,0.0006242845157657939,-8.817993659704371e-07,-0.293359965702429],"issued_joint_targets_rad":[-1.9855103494369182,-1.582155922079362,1.3167358167574592,-1.3053764637645189,-1.5707963021202473,-0.4147140230512694],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.71999999999839,"joint_targets_rad":[-1.9855103494369182,-1.582155922079362,1.3167358167574592,-1.3053764637645189,-1.5707963021202473,-0.4147140230512694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.739999999998378,"qpos":[-1.9855107193893848,-1.5821676271302574,1.316779610078225,-1.3054139326871748,-1.570796150779334,-0.414714183450427,0.0029335899611190467,0.00015630102594489708,0.0031934595231673407,-0.0034292773413843536,0.002933590075166236,0.00015630137403024796,0.0031978342439343563,-0.0034379743122504823,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-7.529934184549838e-17,-7.448543643712253e-17,-1.7022618733215134e-07],"qvel":[1.6607532787971033e-06,5.812085591381141e-05,-0.00022181592390878999,0.00018845444508284678,-7.589681692579432e-07,8.101293746387469e-07,1.0802847802820518e-07,2.73414370357402e-09,1.0182378980370483e-07,-1.0941440387656935e-07,1.0698527649900243e-07,-1.2278613927748172e-09,8.057305081989985e-08,-1.1410681272615094e-07,9.625340599848177e-17,-9.898145461830581e-17,6.268063696367776e-15,1.6510196056562733e-15,1.883324736830936e-15,-2.113569176350963e-08],"joint_position_rad":[-1.9855107193893848,-1.5821676271302574,1.316779610078225,-1.3054139326871748,-1.570796150779334,-0.414714183450427],"joint_velocity_rad_s":[1.6607532787971033e-06,5.812085591381141e-05,-0.00022181592390878999,0.00018845444508284678,-7.589681692579432e-07,8.101293746387469e-07],"linkage_position_rad":[0.0029335899611190467,0.00015630102594489708,0.0031934595231673407,-0.0034292773413843536,0.002933590075166236,0.00015630137403024796,0.0031978342439343563,-0.0034379743122504823],"tcp_position_m":[0.0681235077794067,0.4873043148288848,0.43498830351167683],"tcp_quaternion_wxyz":[-1.1004943403154915e-06,0.7071068551271631,0.7071067072403288,2.58863540434833e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-7.529934184549838e-17,-7.448543643712253e-17,-1.7022618733215134e-07],"object_linear_velocity_m_s":[9.625340599848177e-17,-9.898145461830581e-17,6.268063696367776e-15],"object_angular_velocity_rad_s":[1.6510202499871586e-15,1.8833241715542734e-15,-2.1135691763509635e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513344131437,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103494343245,-1.592059673424424,1.3065914407721695,-1.310203176169095,-1.5707950541022908,-0.4147140230440799,0.0],"actuator_force":[7.560880885648658e-05,-19.8073409306985,-20.28761224254731,-2.4134671854684484,0.0006242353385914612,-8.097639181414706e-07,-0.2933600768830367],"issued_joint_targets_rad":[-1.985510347000872,-1.5821558990435338,1.3167357779326276,-1.305376425032228,-1.5707963044415272,-0.4147140205816814],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.739999999998378,"joint_targets_rad":[-1.985510347000872,-1.5821558990435338,1.3167357779326276,-1.305376425032228,-1.5707963044415272,-0.4147140205816814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.759999999998367,"qpos":[-1.9855106873833182,-1.5821665211438365,1.3167753976259287,-1.3054103518916296,-1.570796165406456,-0.41471416785092285,0.002933592018455283,0.00015630108254956188,0.0031934614513049134,-0.003429279434849303,0.0029335921093910974,0.00015630134596694028,0.0031978357265679902,-0.00343797649823796,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-8.233347646369993e-17,-5.682417431601721e-17,-1.706762208407986e-07],"qvel":[1.5304004066010986e-06,5.275178817525588e-05,-0.00020067366406145454,0.00017064082053693704,-6.972325570173122e-07,7.438137223067632e-07,9.756029291630127e-08,2.4711718387553833e-09,9.195226650293135e-08,-9.880743801045115e-08,9.661675141553071e-08,-1.1136410130547206e-09,7.271504871683779e-08,-1.0306080231325237e-07,7.874435384785231e-17,-1.208468013772857e-16,6.361044874680134e-15,-6.491865753347858e-17,2.023073276472215e-15,-3.858843573325186e-08],"joint_position_rad":[-1.9855106873833182,-1.5821665211438365,1.3167753976259287,-1.3054103518916296,-1.570796165406456,-0.41471416785092285],"joint_velocity_rad_s":[1.5304004066010986e-06,5.275178817525588e-05,-0.00020067366406145454,0.00017064082053693704,-6.972325570173122e-07,7.438137223067632e-07],"linkage_position_rad":[0.002933592018455283,0.00015630108254956188,0.0031934614513049134,-0.003429279434849303,0.0029335921093910974,0.00015630134596694028,0.0031978357265679902,-0.00343797649823796],"tcp_position_m":[0.06812350740763554,0.48730434230582337,0.4349894365249106],"tcp_quaternion_wxyz":[-1.0077639146482352e-06,0.707106849327048,0.7071067130413491,2.3702281809869737e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-8.233347646369993e-17,-5.682417431601721e-17,-1.706762208407986e-07],"object_linear_velocity_m_s":[7.874435384785231e-17,-1.208468013772857e-16,6.361044874680134e-15],"object_angular_velocity_rad_s":[-6.491796256696127e-17,2.023073292277999e-15,-3.858843573325187e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513332136844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510346998753,-1.5920596659234758,1.306591409926448,-1.310203135858512,-1.5707950564722446,-0.414714020575098,0.0],"actuator_force":[6.86089674672985e-05,-19.807390274549107,-20.287705933336838,-2.4134560654949837,0.0006241903613499744,-7.434597932842735e-07,-0.29336017727754066],"issued_joint_targets_rad":[-1.9855103447941993,-1.5821558781990914,1.3167357428002908,-1.3053763899733746,-1.570796306544475,-0.4147140183441497],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.759999999998367,"joint_targets_rad":[-1.9855103447941993,-1.5821558781990914,1.3167357428002908,-1.3053763899733746,-1.570796306544475,-0.4147140183441497],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.779999999998356,"qpos":[-1.9855106578965536,-1.5821655173398774,1.3167715866777674,-1.305407109573005,-1.5707961788410247,-0.41471415353109164,0.002933593876433985,0.00015630113371526346,0.0031934631925022066,-0.003429281325382316,0.0029335939464648574,0.0001563013205234693,0.0031978370644814296,-0.003437978472643435,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-9.099696741504618e-17,-4.32186432352651e-17,-1.7103207425558255e-07],"qvel":[1.4098842148834759e-06,4.787761166968034e-05,-0.00018154684588160116,0.0001545108192715053,-6.40386688825789e-07,6.827893246150598e-07,8.810548758554464e-08,2.2334943868540227e-09,8.30367339844831e-08,-8.922764032634855e-08,8.725208805001834e-08,-1.0100224589435973e-09,6.562231649415543e-08,-9.308340408796082e-08,8.009162862843279e-17,-1.9872160743400785e-16,6.420719362253739e-15,-6.173951720785511e-15,-6.610623431762996e-16,-7.045273885523868e-08],"joint_position_rad":[-1.9855106578965536,-1.5821655173398774,1.3167715866777674,-1.305407109573005,-1.5707961788410247,-0.41471415353109164],"joint_velocity_rad_s":[1.4098842148834759e-06,4.787761166968034e-05,-0.00018154684588160116,0.0001545108192715053,-6.40386688825789e-07,6.827893246150598e-07],"linkage_position_rad":[0.002933593876433985,0.00015630113371526346,0.0031934631925022066,-0.003429281325382316,0.0029335939464648574,0.0001563013205234693,0.0031978370644814296,-0.003437978472643435],"tcp_position_m":[0.06812350692180999,0.4873043673205861,0.43499045973240136],"tcp_quaternion_wxyz":[-9.226813044360275e-07,0.7071068439651312,0.7071067184040266,2.169852868429803e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-9.099696741504618e-17,-4.32186432352651e-17,-1.7103207425558255e-07],"object_linear_velocity_m_s":[8.009162862843279e-17,-1.9872160743400785e-16,6.420719362253739e-15],"object_angular_velocity_rad_s":[-6.173951940821139e-15,-6.610602441106951e-16,-7.04527388552387e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513321314286,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103447924682,-1.5920596592049023,1.3065913820099677,-1.3102030993515328,-1.5707950586198984,-0.41471401833812244,0.0],"actuator_force":[6.22544848738471e-05,-19.807434774717876,-20.28779059724684,-2.4134459711909813,0.0006241492321805708,-6.824478759881458e-07,-0.29336026793282033],"issued_joint_targets_rad":[-1.985510342795308,-1.5821558593367107,1.316735711008084,-1.3053763582392681,-1.5707963084496204,-0.4147140163168752],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.779999999998356,"joint_targets_rad":[-1.985510342795308,-1.5821558593367107,1.316735711008084,-1.3053763582392681,-1.5707963084496204,-0.4147140163168752],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.799999999998345,"qpos":[-1.9855106307381811,-1.5821646062982517,1.3167681389595294,-1.3054041737404418,-1.5707961911777986,-0.41471414038853005,0.002933595554355654,0.0001563011799648199,0.0031934647648664913,-0.003429283032640858,0.002933595605477356,0.0001563012974556147,0.0031978382717811047,-0.003437980255928587,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-8.55168022593252e-17,-3.4098579681337245e-17,-1.7129931827589286e-07],"qvel":[1.298506074573685e-06,4.3452825698815734e-05,-0.00016424331972129212,0.00013990533834590743,-5.880577583927042e-07,6.26649067613147e-07,7.956619352030867e-08,2.018692663756319e-09,7.498495976055764e-08,-8.057599272897383e-08,7.879432582354006e-08,-9.160211689100349e-10,5.922066461073365e-08,-8.407097264021412e-08,4.206628885900933e-17,-1.0220738224877921e-16,6.53451722227782e-15,3.232749657062545e-15,1.4741119735483134e-15,-7.632977305690252e-09],"joint_position_rad":[-1.9855106307381811,-1.5821646062982517,1.3167681389595294,-1.3054041737404418,-1.5707961911777986,-0.41471414038853005],"joint_velocity_rad_s":[1.298506074573685e-06,4.3452825698815734e-05,-0.00016424331972129212,0.00013990533834590743,-5.880577583927042e-07,6.26649067613147e-07],"linkage_position_rad":[0.002933595554355654,0.0001563011799648199,0.0031934647648664913,-0.003429283032640858,0.002933595605477356,0.0001563012974556147,0.0031978382717811047,-0.003437980255928587],"tcp_position_m":[0.06812350634582645,0.4873043900916153,0.43499138378115176],"tcp_quaternion_wxyz":[-8.446341979992863e-07,0.7071068390101327,0.7071067233596635,1.986064766341839e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-8.55168022593252e-17,-3.4098579681337245e-17,-1.7129931827589286e-07],"object_linear_velocity_m_s":[4.206628885900933e-17,-1.0220738224877921e-16,6.53451722227782e-15],"object_angular_velocity_rad_s":[3.2327501626116564e-15,1.474110864707107e-15,-7.632977305690255e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513311549401,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103427938938,-1.5920596531865796,1.306591356743388,-1.3102030662890596,-1.5707950605660972,-0.41471401631135807,0.0],"actuator_force":[5.648614478559466e-05,-19.807474906935113,-20.287867104394536,-2.4134368081433877,0.0006241116266210156,-6.263207694701123e-07,-0.29336034979424724],"issued_joint_targets_rad":[-1.985510340984638,-1.5821558422672217,1.31673568223749,-1.3053763295143725,-1.5707963101755638,-0.41471401448010525],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.799999999998345,"joint_targets_rad":[-1.985510340984638,-1.5821558422672217,1.31673568223749,-1.3053763295143725,-1.5707963101755638,-0.41471401448010525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.819999999998334,"qpos":[-1.9855106057309428,-1.582163779465094,1.316765019846015,-1.305401515426264,-1.5707962025042779,-0.41471412832874754,0.0029335970696561893,0.00015630122177079785,0.0031934661847552647,-0.0034292845743807295,0.0029335971036739293,0.00015630127654177656,0.003197839361202279,-0.0034379818665818828,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-9.949433589394262e-17,-2.6248138593581502e-17,-1.717872383694593e-07],"qvel":[1.1956119590303931e-06,3.9436100316818485e-05,-0.0001485892564691418,0.000126680307696424,-5.39899751971285e-07,5.750154662107604e-07,7.185392515252281e-08,1.824542372836537e-09,6.771329840570106e-08,-7.276294633533507e-08,7.115580111284676e-08,-8.307725381982301e-10,5.3442759607097766e-08,-7.593076887575391e-08,3.3176056707577226e-17,-1.2253428093744748e-16,6.612232834001582e-15,3.3915102164605173e-15,1.2684212634365721e-15,-1.3935888993354599e-08],"joint_position_rad":[-1.9855106057309428,-1.582163779465094,1.316765019846015,-1.305401515426264,-1.5707962025042779,-0.41471412832874754],"joint_velocity_rad_s":[1.1956119590303931e-06,3.9436100316818485e-05,-0.0001485892564691418,0.000126680307696424,-5.39899751971285e-07,5.750154662107604e-07],"linkage_position_rad":[0.0029335970696561893,0.00015630122177079785,0.0031934661847552647,-0.0034292845743807295,0.0029335971036739293,0.00015630127654177656,0.003197839361202279,-0.0034379818665818828],"tcp_position_m":[0.06812350570018864,0.48730441081821285,0.43499221828529866],"tcp_quaternion_wxyz":[-7.730572147360171e-07,0.7071068344328005,0.7071067279375315,1.817529911535096e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-9.949433589394262e-17,-2.6248138593581502e-17,-1.717872383694593e-07],"object_linear_velocity_m_s":[3.3176056707577226e-17,-1.2253428093744748e-16,6.612232834001582e-15],"object_angular_velocity_rad_s":[3.391510652989073e-15,1.268420095427066e-15,-1.3935888993354609e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513302738995,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103409834827,-1.592059647795119,1.3065913338742292,-1.3102030363459438,-1.5707950623297324,-0.4147140144750559,0.0],"actuator_force":[5.125013694851077e-05,-19.807511100176725,-20.287936240984436,-2.4134284906097037,0.0006240772479486623,-5.747007776335522e-07,-0.2933604237151372],"issued_joint_targets_rad":[-1.9855103393444697,-1.5821558268196383,1.3167356562005386,-1.3053763035131412,-1.5707963117391577,-0.41471401281594183],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.819999999998334,"joint_targets_rad":[-1.9855103393444697,-1.5821558268196383,1.3167356562005386,-1.3053763035131412,-1.5707963117391577,-0.41471401281594183],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.839999999998323,"qpos":[-1.98551058271035,-1.5821630290733768,1.3167621980131157,-1.3053991084003274,-1.5707962129012305,-0.4147141172645867,0.002933598438086305,0.00015630125956046616,0.0031934674669439203,-0.0034292859666369053,0.002933598456632914,0.00015630125758103874,0.0031978403442418078,-0.003437983321306761,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.2482176867884603e-16,-3.767154148367267e-18,-1.7222074453720634e-07],"qvel":[1.1005902146465205e-06,3.57898954707106e-05,-0.00013442740086847948,0.00011470527004986136,-4.955917127735341e-07,5.2753870533457e-07,6.488874273257866e-08,1.6490726488077687e-09,6.114642286208699e-08,-6.570653370221704e-08,6.42573183402592e-08,-7.534222482903931e-10,4.822817588993102e-08,-6.857830194878016e-08,3.923435953906073e-18,-1.691412790527248e-16,6.651090639863464e-15,9.63282303637885e-16,1.2397933615902686e-15,-2.544341405159456e-08],"joint_position_rad":[-1.98551058271035,-1.5821630290733768,1.3167621980131157,-1.3053991084003274,-1.5707962129012305,-0.4147141172645867],"joint_velocity_rad_s":[1.1005902146465205e-06,3.57898954707106e-05,-0.00013442740086847948,0.00011470527004986136,-4.955917127735341e-07,5.2753870533457e-07],"linkage_position_rad":[0.002933598438086305,0.00015630125956046616,0.0031934674669439203,-0.0034292859666369053,0.002933598456632914,0.00015630125758103874,0.0031978403442418078,-0.003437983321306761],"tcp_position_m":[0.06812350500242281,0.4873044296821894,0.4349929719263623],"tcp_quaternion_wxyz":[-7.074285525074696e-07,0.7071068302058021,0.7071067321649793,1.6630171782012869e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.2482176867884603e-16,-3.767154148367267e-18,-1.7222074453720634e-07],"object_linear_velocity_m_s":[3.923435953906073e-18,-1.691412790527248e-16,6.651090639863464e-15],"object_angular_velocity_rad_s":[9.632827308657976e-16,1.239793023444021e-15,-2.5443414051594585e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513294789877,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103393435258,-1.5920596429649143,1.306591313174239,-1.3102030092277641,-1.5707950639279256,-0.4147140128113214,0.0],"actuator_force":[4.6497562379954616e-05,-19.807543741263544,-20.287998717406026,-2.4134209407234266,0.0006240458237698476,-5.272379155485396e-07,-0.2933604904662663],"issued_joint_targets_rad":[-1.985510337858751,-1.5821558128393853,1.3167356326368496,-1.3053762799771598,-1.570796313155669,-0.41471401130816926],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.839999999998323,"joint_targets_rad":[-1.985510337858751,-1.5821558128393853,1.3167356326368496,-1.3053762799771598,-1.570796313155669,-0.41471401130816926],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.859999999998312,"qpos":[-1.9855105615238446,-1.582162348070741,1.316759645123069,-1.3053969289113532,-1.57079622244318,-0.41471410711568163,0.0029335996738735653,0.00015630129371968423,0.003193468624779077,-0.0034292872238967614,0.0029335996784259984,0.00015630124039126396,0.0031978412312781983,-0.0034379846351922766,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.4477733055424228e-16,1.6638078808063693e-17,-1.726367267999339e-07],"qvel":[1.0128693498242503e-06,3.248011473442065e-05,-0.0001216154912682525,0.00010386209492585433,-4.5483609129087013e-07,4.838947776448911e-07,5.859839084471316e-08,1.490503552468421e-09,5.521612105441741e-08,-5.933437786199138e-08,5.802729330413052e-08,-6.832707230628882e-10,4.3521956956821067e-08,-6.193743003888215e-08,-3.088197799318028e-17,-2.339880396972393e-16,6.706601791094723e-15,-2.689937756556553e-15,1.953215707835923e-15,-4.645324879593471e-08],"joint_position_rad":[-1.9855105615238446,-1.582162348070741,1.316759645123069,-1.3053969289113532,-1.57079622244318,-0.41471410711568163],"joint_velocity_rad_s":[1.0128693498242503e-06,3.248011473442065e-05,-0.0001216154912682525,0.00010386209492585433,-4.5483609129087013e-07,4.838947776448911e-07],"linkage_position_rad":[0.0029335996738735653,0.00015630129371968423,0.003193468624779077,-0.0034292872238967614,0.0029335996784259984,0.00015630124039126396,0.0031978412312781983,-0.0034379846351922766],"tcp_position_m":[0.06812350426744794,0.4873044468493777,0.43499365254375955],"tcp_quaternion_wxyz":[-6.47266847122655e-07,0.7071068263036216,0.7071067360675373,1.5213908677031021e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.4477733055424228e-16,1.6638078808063693e-17,-1.726367267999339e-07],"object_linear_velocity_m_s":[-3.088197799318028e-17,-2.339880396972393e-16,6.706601791094723e-15],"object_angular_velocity_rad_s":[-2.68993708370865e-15,1.953216623149153e-15,-4.645324879593475e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513287617949,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551033785798,-1.592059638637298,1.306591294437042,-1.3102029846679162,-1.570795065376191,-0.4147140113039421,0.0],"actuator_force":[4.218398953526048e-05,-19.80757317900816,-20.288055175547015,-2.413414087774072,0.0006240171035187814,-4.836079767756019e-07,-0.2933605507433989],"issued_joint_targets_rad":[-1.9855103365129414,-1.5821558001867067,1.3167356113109647,-1.3053762586725635,-1.570796314438931,-0.41471400994209295],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.859999999998312,"joint_targets_rad":[-1.9855103365129414,-1.5821558001867067,1.3167356113109647,-1.3053762586725635,-1.570796314438931,-0.41471400994209295],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.8799999999983,"qpos":[-1.9855105420300085,-1.5821617300539224,1.3167573355397217,-1.3053949554527013,-1.5707962311988684,-0.41471409780795443,0.0029336007898693893,0.00015630132459748747,0.003193469670315318,-0.0034292883592439336,0.0029336007817635647,0.00015630122480720586,0.0031978420316793347,-0.0034379858218692404,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.586343032993245e-16,2.447436769524136e-17,-1.730028919900622e-07],"qvel":[9.319158659817837e-07,2.9475790514362803e-05,-0.00011002483001886245,9.404381409226991e-05,-4.1735719792551984e-07,4.437837508213683e-07,5.291756058993943e-08,1.347152813969318e-09,4.986063509779355e-08,-5.358001281271662e-08,5.240102910669869e-08,-6.196454238385402e-10,3.927462848140634e-08,-5.593944489638759e-08,-5.508599403558622e-17,-3.836340705164218e-16,6.7357451454911345e-15,-1.3728692939627773e-14,2.0872036821601913e-15,-8.481190139504303e-08],"joint_position_rad":[-1.9855105420300085,-1.5821617300539224,1.3167573355397217,-1.3053949554527013,-1.5707962311988684,-0.41471409780795443],"joint_velocity_rad_s":[9.319158659817837e-07,2.9475790514362803e-05,-0.00011002483001886245,9.404381409226991e-05,-4.1735719792551984e-07,4.437837508213683e-07],"linkage_position_rad":[0.0029336007898693893,0.00015630132459748747,0.003193469670315318,-0.0034292883592439336,0.0029336007817635647,0.00015630122480720586,0.0031978420316793347,-0.0034379858218692404],"tcp_position_m":[0.0681235035079041,0.4873044624710141,0.4349942672165268],"tcp_quaternion_wxyz":[-5.921282259169645e-07,0.7071068227024562,0.7071067396690185,1.3916037718622708e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.586343032993245e-16,2.447436769524136e-17,-1.730028919900622e-07],"object_linear_velocity_m_s":[-5.508599403558622e-17,-3.836340705164218e-16,6.7357451454911345e-15],"object_angular_velocity_rad_s":[-1.372869222159386e-14,2.087208405459079e-15,-8.481190139504312e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351328114728,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103365123115,-1.5920596347597944,1.3065912774760164,-1.3102029624249816,-1.570795066688591,-0.4147140099382261,0.0],"actuator_force":[3.826904776360607e-05,-19.807599727949764,-20.28810619540309,-2.4134078675492674,0.000623990858457546,-4.435109417499916e-07,-0.29336060517459617],"issued_joint_targets_rad":[-1.9855103352938683,-1.582155788735225,1.3167355920099337,-1.3053762393876949,-1.5707963156014748,-0.41471400870440017],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.8799999999983,"joint_targets_rad":[-1.9855103352938683,-1.582155788735225,1.3167355920099337,-1.3053762393876949,-1.5707963156014748,-0.41471400870440017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.89999999999829,"qpos":[-1.985510524097814,-1.5821611692091762,1.3167552460709426,-1.3053931685502669,-1.5707962392316799,-0.4147140892731451,0.002933601797681563,0.0001563013525092436,0.003193470614440389,-0.0034292893844976124,0.002933601778125856,0.00015630121067897163,0.0031978427539002493,-0.0034379868936508058,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.5887497355936698e-16,2.3642268624356314e-17,-1.7332460373423647e-07],"qvel":[8.572321486276112e-07,2.6748797943433027e-05,-9.953899021197272e-05,8.515356704621001e-05,-3.828997156752029e-07,4.069280993936533e-07,4.778728662003702e-08,1.217617441199056e-09,4.502443028570331e-08,-4.838346361204038e-08,4.732010579500448e-08,-5.619295731906978e-10,3.544159632716694e-08,-5.052225301437774e-08,-2.8730183797770204e-17,-1.894639249772584e-16,6.792644075503176e-15,5.798695431351039e-15,-1.0035274880936236e-15,-9.188674977291657e-09],"joint_position_rad":[-1.985510524097814,-1.5821611692091762,1.3167552460709426,-1.3053931685502669,-1.5707962392316799,-0.4147140892731451],"joint_velocity_rad_s":[8.572321486276112e-07,2.6748797943433027e-05,-9.953899021197272e-05,8.515356704621001e-05,-3.828997156752029e-07,4.069280993936533e-07],"linkage_position_rad":[0.002933601797681563,0.0001563013525092436,0.003193470614440389,-0.0034292893844976124,0.002933601778125856,0.00015630121067897163,0.0031978427539002493,-0.0034379868936508058],"tcp_position_m":[0.06812350273443915,0.4873044766850061,0.43499482233711034],"tcp_quaternion_wxyz":[-5.416035608253329e-07,0.7071068193801194,0.7071067429916201,1.2726906820983062e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.5887497355936698e-16,2.3642268624356314e-17,-1.7332460373423647e-07],"object_linear_velocity_m_s":[-2.8730183797770204e-17,-1.894639249772584e-16,6.792644075503176e-15],"object_angular_velocity_rad_s":[5.7986950830442066e-15,-1.0035295011264408e-15,-9.188674977291666e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513275309386,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103352933536,-1.592059631285451,1.3065912621223763,-1.3102029422803394,-1.5707950678778677,-0.4147140087008635,0.0],"actuator_force":[3.4716061236395035e-05,-19.80762367172656,-20.28815230104783,-2.413402221740853,0.0006239668776970575,-4.066691019488644e-07,-0.29336065432733305],"issued_joint_targets_rad":[-1.9855103341895983,-1.582155778370653,1.316735574541155,-1.3053762219309955,-1.570796316654655,-0.4147140075830285],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.89999999999829,"joint_targets_rad":[-1.9855103341895983,-1.582155778370653,1.316735574541155,-1.3053762219309955,-1.570796316654655,-0.4147140075830285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.919999999998279,"qpos":[-1.985510507605917,-1.5821606602581482,1.3167533557355957,-1.305391550570418,-1.5707962466000425,-0.4147140814483747,0.0029336027077943717,0.00015630137774001716,0.003193471466987686,-0.0034292903103302842,0.0029336026778817867,0.00015630119787074043,0.003197843405573206,-0.0034379878616576914,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.680754374856225e-16,3.5717475901291885e-17,-1.7378848450197597e-07],"qvel":[7.883544221698795e-07,2.4273594764264504e-05,-9.005264561864977e-05,7.710364604319088e-05,-3.512273229331065e-07,3.730711594852442e-07,4.3154255750709984e-08,1.100539620793887e-09,4.065724057679636e-08,-4.36906526986906e-08,4.273171037871115e-08,-5.095807814109484e-10,3.198249377320088e-08,-4.5629471557372864e-08,-4.440935489559223e-17,-2.095572999275986e-16,6.9397486262660116e-15,5.44958954784129e-15,-7.436917737633399e-16,-1.6776200079108905e-08],"joint_position_rad":[-1.985510507605917,-1.5821606602581482,1.3167533557355957,-1.305391550570418,-1.5707962466000425,-0.4147140814483747],"joint_velocity_rad_s":[7.883544221698795e-07,2.4273594764264504e-05,-9.005264561864977e-05,7.710364604319088e-05,-3.512273229331065e-07,3.730711594852442e-07],"linkage_position_rad":[0.0029336027077943717,0.00015630137774001716,0.003193471466987686,-0.0034292903103302842,0.0029336026778817867,0.00015630119787074043,0.003197843405573206,-0.0034379878616576914],"tcp_position_m":[0.06812350195596817,0.4873044896170892,0.43499532367799054],"tcp_quaternion_wxyz":[-4.953158946904199e-07,0.7071068163159454,0.7071067460560166,1.1637623277895338e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.680754374856225e-16,3.5717475901291885e-17,-1.7378848450197597e-07],"object_linear_velocity_m_s":[-4.440935489559223e-17,-2.095572999275986e-16,6.9397486262660116e-15],"object_angular_velocity_rad_s":[5.4495892881524274e-15,-7.436936735544474e-16,-1.677620007910893e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513270042424,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103341891778,-1.592059628172251,1.3065912482234578,-1.3102029240360131,-1.5707950689555694,-0.4147140075797943,0.0],"actuator_force":[3.149170970573323e-05,-19.807645266111194,-20.288193966028302,-2.413397097402026,0.0006239449687654997,-3.7282578091435425e-07,-0.2933606987136385],"issued_joint_targets_rad":[-1.985510333189323,-1.5821557689896213,1.3167355587304048,-1.3053762061290881,-1.5707963176087574,-0.414714006567047],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.919999999998279,"joint_targets_rad":[-1.985510333189323,-1.5821557689896213,1.3167355587304048,-1.3053762061290881,-1.5707963176087574,-0.414714006567047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.939999999998268,"qpos":[-1.9855104924419964,-1.5821601984087013,1.3167516455527326,-1.3053900855460803,-1.5707962533577968,-0.41471407427573787,0.0029336035296769485,0.0001563014005473459,0.0031934722368379444,-0.0034292911463815793,0.0029336034903961446,0.0001563011862593167,0.003197843993585748,-0.003437988735937597,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-2.012336390262413e-16,4.122202808163732e-17,-1.7424926191642594e-07],"qvel":[7.248507712249244e-07,2.202698496272996e-05,-8.1470512297839e-05,6.981463139077822e-05,-3.2212137706300564e-07,3.4197567568495576e-07,3.897031314312993e-08,9.947315910983376e-10,3.6713593541443577e-08,-3.9453145746550864e-08,3.8588138704351656e-08,-4.621124922738107e-10,2.8860818879436892e-08,-4.1210583591870823e-08,-5.4241743272032834e-17,-2.7524154091599026e-16,7.009137565305084e-15,1.336462705665894e-15,-2.25849137642372e-16,-3.062910482630031e-08],"joint_position_rad":[-1.9855104924419964,-1.5821601984087013,1.3167516455527326,-1.3053900855460803,-1.5707962533577968,-0.41471407427573787],"joint_velocity_rad_s":[7.248507712249244e-07,2.202698496272996e-05,-8.1470512297839e-05,6.981463139077822e-05,-3.2212137706300564e-07,3.4197567568495576e-07],"linkage_position_rad":[0.0029336035296769485,0.0001563014005473459,0.0031934722368379444,-0.0034292911463815793,0.0029336034903961446,0.0001563011862593167,0.003197843993585748,-0.003437988735937597],"tcp_position_m":[0.06812350117989911,0.4873045013818877,0.4349957764518392],"tcp_quaternion_wxyz":[-4.529180455828012e-07,0.7071068134906988,0.7071067488814489,1.0639997193570615e-06],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-2.012336390262413e-16,4.122202808163732e-17,-1.7424926191642594e-07],"object_linear_velocity_m_s":[-5.4241743272032834e-17,-2.7524154091599026e-16,7.009137565305084e-15],"object_angular_velocity_rad_s":[1.336462624432534e-15,-2.2584961572485074e-16,-3.0629104826300356e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513265290581,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103331889794,-1.5920596253825843,1.306591235641154,-1.3102029075127144,-1.5707950699321618,-0.41471400656408985,0.0],"actuator_force":[2.8565725642692996e-05,-19.80766474175107,-20.28823161823766,-2.4133924464561005,0.0006239249552209003,-3.41743572107589e-07,-0.2933607387959139],"issued_joint_targets_rad":[-1.985510332283249,-1.5821557604986323,1.3167355444200837,-1.3053761918250533,-1.5707963184731006,-0.4147140056465537],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.939999999998268,"joint_targets_rad":[-1.985510332283249,-1.5821557604986323,1.3167355444200837,-1.3053761918250533,-1.5707963184731006,-0.4147140056465537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.959999999998256,"qpos":[-1.9855104785021258,-1.582159779310246,1.3167500983508875,-1.305388759019251,-1.5707962595545415,-0.414714067701926,0.002933604271881521,0.0001563014211642235,0.0031934729320117006,-0.003429291901354149,0.002933604224126753,0.00015630117573298244,0.0031978445241540574,-0.003437989525565546,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-2.1165324177301318e-16,3.154158365008542e-17,-1.7462879146304984e-07],"qvel":[6.663192471949802e-07,1.998790391105384e-05,-7.370639100764559e-05,6.32146083544882e-05,-2.9537968268611066e-07,3.134224107279185e-07,3.5191965580397114e-08,8.990828186424079e-10,3.3152413004173246e-08,-3.562630899409113e-08,3.484630631210103e-08,-4.19052069333068e-10,2.6043746455394178e-08,-3.7219568598894566e-08,-4.3614168125182686e-17,-3.6931975961746325e-16,7.0535464862900915e-15,-6.090791350585713e-15,-9.271515016655794e-16,-5.592101060052592e-08],"joint_position_rad":[-1.9855104785021258,-1.582159779310246,1.3167500983508875,-1.305388759019251,-1.5707962595545415,-0.414714067701926],"joint_velocity_rad_s":[6.663192471949802e-07,1.998790391105384e-05,-7.370639100764559e-05,6.32146083544882e-05,-2.9537968268611066e-07,3.134224107279185e-07],"linkage_position_rad":[0.002933604271881521,0.0001563014211642235,0.0031934729320117006,-0.003429291901354149,0.002933604224126753,0.00015630117573298244,0.0031978445241540574,-0.003437989525565546],"tcp_position_m":[0.0681235004123309,0.4873045120838821,0.43499618536583456],"tcp_quaternion_wxyz":[-4.1409037239719693e-07,0.7071068108864863,0.7071067514858166,9.726488734028008e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-2.1165324177301318e-16,3.154158365008542e-17,-1.7462879146304984e-07],"object_linear_velocity_m_s":[-4.3614168125182686e-17,-3.6931975961746325e-16,7.0535464862900915e-15],"object_angular_velocity_rad_s":[-6.090791677927722e-15,-9.271493980821849e-16,-5.592101060052601e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513261003499,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103322829684,-1.5920596228827824,1.306591224250526,-1.3102028925480804,-1.570795070817128,-0.4147140056438503,0.0],"actuator_force":[2.5910615931934444e-05,-19.80768230663716,-20.28826564432029,-2.4133882252501735,0.0006239066749458289,-3.132032588837319e-07,-0.29336077499177315],"issued_joint_targets_rad":[-1.9855103314625078,-1.5821557528131052,1.3167355314676126,-1.3053761788768614,-1.570796319256128,-0.41471400481257464],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.959999999998256,"joint_targets_rad":[-1.9855103314625078,-1.5821557528131052,1.3167355314676126,-1.3053761788768614,-1.570796319256128,-0.41471400481257464],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.979999999998245,"qpos":[-1.9855104656901863,-1.582159399013157,1.3167486985955523,-1.305387557898395,-1.5707962652359548,-0.4147140616778755,0.002933604942131814,0.00015630143980108085,0.0031934735597514527,-0.0034292925831156088,0.0029336048867119736,0.00015630116619043058,0.0031978450028881844,-0.0034379902387367102,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.969549229800305e-16,2.136377867692244e-17,-1.7494259609615923e-07],"qvel":[6.123860231452424e-07,1.813722313519266e-05,-6.668230099409945e-05,5.723845809845621e-05,-2.708153416506076e-07,2.872088819767992e-07,3.1779928684511784e-08,8.126485835441612e-10,2.9936641604258554e-08,-3.2170824818319133e-08,3.146729428319345e-08,-3.799894665692487e-10,2.3501606574373625e-08,-3.361493322956037e-08,-3.97317403997054e-17,-4.909330305241117e-16,7.111833195082912e-15,-1.4527736041582098e-14,1.556406306498619e-16,-1.020976435425994e-07],"joint_position_rad":[-1.9855104656901863,-1.582159399013157,1.3167486985955523,-1.305387557898395,-1.5707962652359548,-0.4147140616778755],"joint_velocity_rad_s":[6.123860231452424e-07,1.813722313519266e-05,-6.668230099409945e-05,5.723845809845621e-05,-2.708153416506076e-07,2.872088819767992e-07],"linkage_position_rad":[0.002933604942131814,0.00015630143980108085,0.0031934735597514527,-0.0034292925831156088,0.0029336048867119736,0.00015630116619043058,0.0031978450028881844,-0.0034379902387367102],"tcp_position_m":[0.06812349965823088,0.4873045218182974,0.4349965546707072],"tcp_quaternion_wxyz":[-3.7853869292969994e-07,0.7071068084866743,0.7071067538857589,8.890159034871831e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.969549229800305e-16,2.136377867692244e-17,-1.7494259609615923e-07],"object_linear_velocity_m_s":[-3.97317403997054e-17,-4.909330305241117e-16,7.111833195082912e-15],"object_angular_velocity_rad_s":[-1.4527735991487272e-14,1.5564567347230337e-16,-1.0209764354259959e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513257135769,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103314622784,-1.5920596206426958,1.3065912139385303,-1.3102028789950715,-1.5707950716190637,-0.4147140048101035,0.0],"actuator_force":[2.350140630369424e-05,-19.807698148331383,-20.288296393646306,-2.4133843941481246,0.0006238899798063358,-2.870021944545442e-07,-0.29336080767830425],"issued_joint_targets_rad":[-1.9855103307190634,-1.5821557458565234,1.3167355197439974,-1.3053761671559594,-1.5707963199654877,-0.414714004056981],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.979999999998245,"joint_targets_rad":[-1.9855103307190634,-1.5821557458565234,1.3167355197439974,-1.3053761671559594,-1.5707963199654877,-0.414714004056981],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.999999999998234,"qpos":[-1.9855104539173178,-1.5821590539319152,1.316747432233108,-1.3053864703293112,-1.570796270444092,-0.4147140561584424,0.002933605547403335,0.00015630145664810206,0.0031934741265985302,-0.0034292931987612613,0.0029336054850500814,0.00015630115753980165,0.0031978454348507946,-0.0034379908828542677,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.8860274539537003e-16,1.5084853247675493e-17,-1.7532987677776058e-07],"qvel":[5.627036662962849e-07,1.645757288654742e-05,-6.032769634516894e-05,5.182721555719081e-05,-2.4825566074340504e-07,2.631481350767794e-07,2.8698696590006342e-08,7.345248303332216e-10,2.703279022544702e-08,-2.905046875134618e-08,2.841593256927827e-08,-3.445786723012211e-10,2.1207547255552505e-08,-3.0359495613670066e-08,-2.0521304784965803e-17,-2.3024019470154935e-16,7.1354254343562e-15,7.19922138990124e-15,-8.662846189976712e-16,-1.1061443583142937e-08],"joint_position_rad":[-1.9855104539173178,-1.5821590539319152,1.316747432233108,-1.3053864703293112,-1.570796270444092,-0.4147140561584424],"joint_velocity_rad_s":[5.627036662962849e-07,1.645757288654742e-05,-6.032769634516894e-05,5.182721555719081e-05,-2.4825566074340504e-07,2.631481350767794e-07],"linkage_position_rad":[0.002933605547403335,0.00015630145664810206,0.0031934741265985302,-0.0034292931987612613,0.0029336054850500814,0.00015630115753980165,0.0031978454348507946,-0.0034379908828542677],"tcp_position_m":[0.06812349892158989,0.48730453067191026,0.4349968882050216],"tcp_quaternion_wxyz":[-3.459923485449678e-07,0.707106806275809,0.7071067560967332,8.124624481341896e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.8860274539537003e-16,1.5084853247675493e-17,-1.7532987677776058e-07],"object_linear_velocity_m_s":[-2.0521304784965803e-17,-2.3024019470154935e-16,7.1354254343562e-15],"object_angular_velocity_rad_s":[7.199221085795938e-15,-8.66287147647255e-16,-1.1061443583142957e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513253646363,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510330718876,-1.5920596186353257,1.3065912046028827,-1.310202866720524,-1.5707950723457567,-0.41471400405472253,0.0],"actuator_force":[2.131541714334162e-05,-19.807712435975645,-20.288324181912685,-2.413380917162158,0.0006238747338329631,-2.629535629239399e-07,-0.2933608371958166],"issued_joint_targets_rad":[-1.9855103300456374,-1.5821557395596582,1.3167355091325246,-1.3053761565459907,-1.5707963206081095,-0.41471400337240677],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.999999999998234,"joint_targets_rad":[-1.9855103300456374,-1.5821557395596582,1.3167355091325246,-1.3053761565459907,-1.5707963206081095,-0.41471400337240677],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.019999999998223,"qpos":[-1.9855104431014012,-1.5821587408116224,1.316746286549631,-1.3053854855782037,-1.5707962752176625,-0.41471405110210047,0.0029336060939956794,0.00015630147187735096,0.0031934746384600834,-0.003429293754704355,0.0029336060253708214,0.00015630114969777994,0.00319784582461024,-0.003437991464605402,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999856,-1.8513771865842284e-16,1.5405108516164294e-17,-1.7582548521405874e-07],"qvel":[5.16949464919026e-07,1.4933180915276843e-05,-5.457875707665794e-05,4.69274879902247e-05,-2.2754114362243046e-07,2.4106763422370486e-07,2.591621174981864e-08,6.639079972984695e-10,2.4410614639186843e-08,-2.623274337777271e-08,2.5660463760791833e-08,-3.1245514501779907e-10,1.9137386030973492e-08,-2.741944748070558e-08,-2.259758331319222e-17,-2.325700770571318e-16,7.278366648776689e-15,5.769907454325692e-15,-5.782651039798558e-16,-2.019540262041777e-08],"joint_position_rad":[-1.9855104431014012,-1.5821587408116224,1.316746286549631,-1.3053854855782037,-1.5707962752176625,-0.41471405110210047],"joint_velocity_rad_s":[5.16949464919026e-07,1.4933180915276843e-05,-5.457875707665794e-05,4.69274879902247e-05,-2.2754114362243046e-07,2.4106763422370486e-07],"linkage_position_rad":[0.0029336060939956794,0.00015630147187735096,0.0031934746384600834,-0.003429293754704355,0.0029336060253708214,0.00015630114969777994,0.00319784582461024,-0.003437991464605402],"tcp_position_m":[0.06812349820555713,0.48730453872379054,0.43499718943516114],"tcp_quaternion_wxyz":[-3.162024047196307e-07,0.7071068042395402,0.7071067581330929,7.424014248392648e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999856,-1.8513771865842284e-16,1.5405108516164294e-17,-1.7582548521405874e-07],"object_linear_velocity_m_s":[-2.259758331319222e-17,-2.325700770571318e-16,7.278366648776689e-15],"object_angular_velocity_rad_s":[5.769907250355637e-15,-5.782671404512383e-16,-2.019540262041781e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513250498286,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103300454842,-1.5920596168364887,1.3065911961510235,-1.3102028556038419,-1.5707950730042655,-0.4147140033703429,0.0],"actuator_force":[1.933204839588143e-05,-19.807725322098577,-20.288349294384716,-2.413377761618108,0.0006238608128796841,-2.4088464556371036e-07,-0.2933608638517026],"issued_joint_targets_rad":[-1.9855103294356362,-1.5821557338598746,1.3167354995275917,-1.3053761469416336,-1.5707963211902716,-0.41471400275217685],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.019999999998223,"joint_targets_rad":[-1.9855103294356362,-1.5821557338598746,1.3167354995275917,-1.3053761469416336,-1.5707963211902716,-0.41471400275217685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.039999999998212,"qpos":[-1.9855104331665772,-1.5821584566975868,1.3167452500431678,-1.3053845939257998,-1.5707962795922856,-0.4147140464706607,0.0029336065875979304,0.00015630148564411525,0.003193475100669332,-0.0034292942567350298,0.0029336065133001112,0.00015630114258891997,0.0031978461762891233,-0.00343799199002974,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.8700054190300095e-16,-1.119961032977155e-17,-1.7625549753641367e-07],"qvel":[4.74823845986049e-07,1.3549725944016207e-05,-4.937774779102152e-05,4.2490928487045435e-05,-2.0852453780341195e-07,2.2080821154326676e-07,2.3403527519525432e-08,6.00091579550114e-10,2.2042798232057665e-08,-2.3688614325971134e-08,2.3172214438407617e-08,-2.8332133498134543e-10,1.726930234856894e-08,-2.4763958678001735e-08,2.3241437707856155e-17,-2.6631779909810953e-16,6.696887339629263e-15,8.161238230605904e-16,-2.240765674553779e-15,-3.687170521054941e-08],"joint_position_rad":[-1.9855104331665772,-1.5821584566975868,1.3167452500431678,-1.3053845939257998,-1.5707962795922856,-0.4147140464706607],"joint_velocity_rad_s":[4.74823845986049e-07,1.3549725944016207e-05,-4.937774779102152e-05,4.2490928487045435e-05,-2.0852453780341195e-07,2.2080821154326676e-07],"linkage_position_rad":[0.0029336065875979304,0.00015630148564411525,0.003193475100669332,-0.0034292942567350298,0.0029336065133001112,0.00015630114258891997,0.0031978461762891233,-0.00343799199002974],"tcp_position_m":[0.06812349751256169,0.48730454604597845,0.43499746149143137],"tcp_quaternion_wxyz":[-2.889399793717751e-07,0.7071068023645514,0.7071067600081583,6.782930809129153e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.8700054190300095e-16,-1.119961032977155e-17,-1.7625549753641367e-07],"object_linear_velocity_m_s":[2.3241437707856155e-17,-2.6631779909810953e-16,6.696887339629263e-15],"object_angular_velocity_rad_s":[8.161230339918971e-16,-2.2407659760363185e-15,-3.687170521054941e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513247658176,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510329435511,-1.5920596152245245,1.306591188499193,-1.310202845535804,-1.5707950736009872,-0.4147140027502911,0.0],"actuator_force":[1.7532593574287603e-05,-19.807736944253065,-20.288371988833205,-2.4133748978507583,0.0006238481029186005,-2.2063636606617365e-07,-0.29336088792361187],"issued_joint_targets_rad":[-1.9855103288830875,-1.5821557287004968,1.316735490833641,-1.305376138247559,-1.5707963217176608,-0.4147140021902455],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.039999999998212,"joint_targets_rad":[-1.9855103288830875,-1.5821557287004968,1.316735490833641,-1.305376138247559,-1.5707963217176608,-0.4147140021902455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.059999999998201,"qpos":[-1.985510424042793,-1.5821581989077047,1.3167443123081863,-1.3053837865714715,-1.57079628360073,-0.41471404222901204,0.0029336070333478284,0.00015630149808911075,0.003193475518043918,-0.003429294710081749,0.002933606953918512,0.00015630113614463565,0.003197846493607951,-0.0034379924645807918,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.7857434267546684e-16,-3.013416764826588e-17,-1.7665070670803723e-07],"qvel":[4.3604887649539753e-07,1.2294204593009272e-05,-4.4672437528186975e-05,3.84737591398675e-05,-1.910699360284298e-07,2.0222306521589554e-07,2.113447374650409e-08,5.42381381696763e-10,1.9904650654722715e-08,-2.1391004626385253e-08,2.092526127816876e-08,-2.569025202513614e-10,1.5583520374417532e-08,-2.2365924811241556e-08,6.725165086054695e-17,-3.123094853486541e-16,6.36659598980328e-15,-4.195040011749576e-15,-3.1251656967522784e-15,-6.731842244923626e-08],"joint_position_rad":[-1.985510424042793,-1.5821581989077047,1.3167443123081863,-1.3053837865714715,-1.57079628360073,-0.41471404222901204],"joint_velocity_rad_s":[4.3604887649539753e-07,1.2294204593009272e-05,-4.4672437528186975e-05,3.84737591398675e-05,-1.910699360284298e-07,2.0222306521589554e-07],"linkage_position_rad":[0.0029336070333478284,0.00015630149808911075,0.003193475518043918,-0.003429294710081749,0.002933606953918512,0.00015630113614463565,0.003197846493607951,-0.0034379924645807918],"tcp_position_m":[0.06812349684441597,0.48730455270409956,0.43499770720066067],"tcp_quaternion_wxyz":[-2.6399469206990245e-07,0.7071068006384896,0.7071067617342833,6.19641334065263e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.7857434267546684e-16,-3.013416764826588e-17,-1.7665070670803723e-07],"object_linear_velocity_m_s":[6.725165086054695e-17,-3.123094853486541e-16,6.36659598980328e-15],"object_angular_velocity_rad_s":[-4.1950411118176075e-15,-3.1251642386812053e-15,-6.731842244923627e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513245095884,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103288829852,-1.5920596137800276,1.3065911815715867,-1.3102028364174976,-1.5707950741417174,-0.4147140021885227,0.0],"actuator_force":[1.5900064681773074e-05,-19.80774742648282,-20.288392498187932,-2.4133722989270154,0.0006238364999262558,-2.0206186945870286e-07,-0.29336090966199213],"issued_joint_targets_rad":[-1.9855103283825806,-1.5821557240302404,1.3167354829642033,-1.305376130377476,-1.570796322195429,-0.4147140016811341],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.059999999998201,"joint_targets_rad":[-1.9855103283825806,-1.5821557240302404,1.3167354829642033,-1.305376130377476,-1.570796322195429,-0.4147140016811341],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.07999999999819,"qpos":[-1.9855104156653816,-1.582157965007369,1.3167434639310447,-1.3053830555464199,-1.570796287273136,-0.4147140383448813,0.002933607435885034,0.00015630150933914458,0.003193475894933445,-0.0034292951194663103,0.0029336073518140223,0.00015630113030298576,0.003197846779923507,-0.0034379928931864154,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.4156133250685077e-16,-3.179422543622748e-17,-1.769060615196259e-07],"qvel":[4.003668294328895e-07,1.1154810417175732e-05,-4.0415574912382334e-05,3.483633936314503e-05,-1.7505194722160604e-07,1.8517686280935324e-07,1.908545807388835e-08,4.902632606956903e-10,1.7974071148255378e-08,-1.931613637230869e-08,1.8896232961618724e-08,-2.329530825220156e-10,1.4062350875603729e-08,-2.019994816877079e-08,3.582629818671535e-17,-1.7420130256728546e-16,6.379085998830315e-15,6.855233533682625e-15,1.0995608681287437e-15,-7.293399790541815e-09],"joint_position_rad":[-1.9855104156653816,-1.582157965007369,1.3167434639310447,-1.3053830555464199,-1.570796287273136,-0.4147140383448813],"joint_velocity_rad_s":[4.003668294328895e-07,1.1154810417175732e-05,-4.0415574912382334e-05,3.483633936314503e-05,-1.7505194722160604e-07,1.8517686280935324e-07],"linkage_position_rad":[0.002933607435885034,0.00015630150933914458,0.003193475894933445,-0.0034292951194663103,0.0029336073518140223,0.00015630113030298576,0.003197846779923507,-0.0034379928931864154],"tcp_position_m":[0.0681234962024088,0.4873045587579318,0.43499792911563534],"tcp_quaternion_wxyz":[-2.411732234956759e-07,0.7071067990499034,0.7071067633229233,5.659903728910224e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.4156133250685077e-16,-3.179422543622748e-17,-1.769060615196259e-07],"object_linear_velocity_m_s":[3.582629818671535e-17,-1.7420130256728546e-16,6.379085998830315e-15],"object_angular_velocity_rad_s":[6.855233923183938e-15,1.0995584405990177e-15,-7.293399790541816e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351324278426,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510328382497,-1.5920596124856112,1.3065911752995987,-1.3102028281593383,-1.5707950746317083,-0.41471400167956035,0.0],"actuator_force":[1.4419037142943125e-05,-19.807756880651596,-20.288411032926888,-2.413369940395455,0.0006238259085193931,-1.8502578313928097e-07,-0.293360929293408],"issued_joint_targets_rad":[-1.9855103279292148,-1.5821557198026963,1.3167354758410288,-1.305376123253278,-1.5707963226282455,-0.4147140012198774],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.07999999999819,"joint_targets_rad":[-1.9855103279292148,-1.5821557198026963,1.3167354758410288,-1.305376123253278,-1.5707963226282455,-0.4147140012198774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.099999999998179,"qpos":[-1.9855104079746666,-1.5821577527866848,1.3167426963954252,-1.3053823936350595,-1.5707962906372146,-0.4147140347886103,0.002933607799399451,0.00015630151950906114,0.0031934762352652237,-0.003429295489152647,0.0029336077111297722,0.00015630112500755617,0.003197847038264822,-0.0034379932802948874,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.5679517613479807e-16,-3.681504646009848e-17,-1.773722749204656e-07],"qvel":[3.6753884102511257e-07,1.0120824037446895e-05,-3.656441334329396e-05,3.1542774904951726e-05,-1.603549468130215e-07,1.6954488613593728e-07,1.7235129762534317e-08,4.431488382124411e-10,1.6230750363221616e-08,-1.7442543485241428e-08,1.706398265292919e-08,-2.1123117571704536e-10,1.2689627772572078e-08,-1.824390839547554e-08,4.4521731514014405e-17,-1.9583691317623001e-16,6.4914960800736116e-15,5.2685093794456085e-15,1.2001576857630661e-15,-1.3315906204694572e-08],"joint_position_rad":[-1.9855104079746666,-1.5821577527866848,1.3167426963954252,-1.3053823936350595,-1.5707962906372146,-0.4147140347886103],"joint_velocity_rad_s":[3.6753884102511257e-07,1.0120824037446895e-05,-3.656441334329396e-05,3.1542774904951726e-05,-1.603549468130215e-07,1.6954488613593728e-07],"linkage_position_rad":[0.002933607799399451,0.00015630151950906114,0.0031934762352652237,-0.003429295489152647,0.0029336077111297722,0.00015630112500755617,0.003197847038264822,-0.0034379932802948874],"tcp_position_m":[0.06812349558738409,0.4873045642619197,0.434998129541682],"tcp_quaternion_wxyz":[-2.2029798621221027e-07,0.7071067975881802,0.7071067647846905,5.169215113645427e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.5679517613479807e-16,-3.681504646009848e-17,-1.773722749204656e-07],"object_linear_velocity_m_s":[4.4521731514014405e-17,-1.9583691317623001e-16,6.4914960800736116e-15],"object_angular_velocity_rad_s":[5.268509806175128e-15,1.200155812612263e-15,-1.3315906204694579e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513240698759,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103279291466,-1.592059611325697,1.306591169621133,-1.3102028206801941,-1.5707950750757214,-0.41471400121844,0.0],"actuator_force":[1.3075503829895752e-05,-19.80776540763918,-20.28842778324679,-2.4133678000576992,0.0006238162412728343,-1.6940344949034625e-07,-0.29336094702202326],"issued_joint_targets_rad":[-1.9855103275185504,-1.5821557159758664,1.316735469393305,-1.3053761168042652,-1.5707963230203386,-0.4147140008019787],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.099999999998179,"joint_targets_rad":[-1.9855103275185504,-1.5821557159758664,1.316735469393305,-1.3053761168042652,-1.5707963230203386,-0.4147140008019787],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.119999999998168,"qpos":[-1.9855104009155975,-1.5821575602397733,1.3167420019967906,-1.3053817943038337,-1.5707962937184425,-0.4147140315329502,0.0029336081276747647,0.0001563015287025243,0.0031934765425857383,-0.0034292958229927197,0.0029336080356071694,0.00015630112020741698,0.0031978472713655405,-0.0034379936299251106,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.6173949916312106e-16,-4.4879528023036505e-17,-1.7784067733919726e-07],"qvel":[3.373436440558069e-07,9.182513302819428e-06,-3.308028147924967e-05,2.856056385032912e-05,-1.468723217236544e-07,1.552122206987583e-07,1.5564229062828004e-08,4.0055511146628464e-10,1.4656445796028394e-08,-1.5751146694361522e-08,1.5409433580656575e-08,-1.9152293537743594e-10,1.1450996292922562e-08,-1.647701679389862e-08,5.91225989103336e-17,-2.1140218935804185e-16,6.5400683374009645e-15,3.8039816939229016e-15,7.111199050488732e-16,-2.4311482044655673e-08],"joint_position_rad":[-1.9855104009155975,-1.5821575602397733,1.3167420019967906,-1.3053817943038337,-1.5707962937184425,-0.4147140315329502],"joint_velocity_rad_s":[3.373436440558069e-07,9.182513302819428e-06,-3.308028147924967e-05,2.856056385032912e-05,-1.468723217236544e-07,1.552122206987583e-07],"linkage_position_rad":[0.0029336081276747647,0.0001563015287025243,0.0031934765425857383,-0.0034292958229927197,0.0029336080356071694,0.00015630112020741698,0.0031978472713655405,-0.0034379936299251106],"tcp_position_m":[0.06812349499981347,0.4873045692656455,0.43499831056066257],"tcp_quaternion_wxyz":[-2.0120588471333114e-07,0.7071067962434916,0.7071067661294161,4.720502676905706e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.6173949916312106e-16,-4.4879528023036505e-17,-1.7784067733919726e-07],"object_linear_velocity_m_s":[5.91225989103336e-17,-2.1140218935804185e-16,6.5400683374009645e-15],"object_angular_velocity_rad_s":[3.803981949036929e-15,7.111185441792123e-16,-2.4311482044655683e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513238817281,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103275184947,-1.5920596102863251,1.3065911644799861,-1.3102028139065875,-1.5707950754780697,-0.41471400080066595,0.0],"actuator_force":[1.1856748187710764e-05,-19.807773098424605,-20.288442921017122,-2.41336585776196,0.0006238074184921061,-1.5507993111896212e-07,-0.29336096303240994],"issued_joint_targets_rad":[-1.9855103271465662,-1.5821557125117436,1.3167354635569464,-1.30537611096644,-1.570796323375539,-0.4147140004233624],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.119999999998168,"joint_targets_rad":[-1.9855103271465662,-1.5821557125117436,1.3167354635569464,-1.30537611096644,-1.570796323375539,-0.4147140004233624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.139999999998157,"qpos":[-1.985510394437404,-1.582157385545983,1.3167413737649911,-1.3053812516367567,-1.570796296540234,-0.41471402855287165,0.0029336084241278343,0.00015630153701343024,0.00319347682009854,-0.00342929612445903,0.0029336083286247944,0.00015630111585613563,0.0031978474816911377,-0.0034379939457075937,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.5222524369607135e-16,-5.294256507993862e-17,-1.7823815329469164e-07],"qvel":[3.095763553641336e-07,8.33104261035905e-06,-2.9928194680716594e-05,2.5860276071396988e-05,-1.3450581109269437e-07,1.420730336512802e-07,1.4055353057036284e-08,3.6205167021613113e-10,1.3234933081615925e-08,-1.4223478917523097e-08,1.3915347084194599e-08,-1.736485626537442e-10,1.033325131868689e-08,-1.4881671891948656e-08,8.475474648649348e-17,-2.3265569908262286e-16,6.606681718878476e-15,1.5157287130638106e-16,-9.978310888030817e-16,-4.438662679969703e-08],"joint_position_rad":[-1.985510394437404,-1.582157385545983,1.3167413737649911,-1.3053812516367567,-1.570796296540234,-0.41471402855287165],"joint_velocity_rad_s":[3.095763553641336e-07,8.33104261035905e-06,-2.9928194680716594e-05,2.5860276071396988e-05,-1.3450581109269437e-07,1.420730336512802e-07],"linkage_position_rad":[0.0029336084241278343,0.00015630153701343024,0.00319347682009854,-0.00342929612445903,0.0029336083286247944,0.00015630111585613563,0.0031978474816911377,-0.0034379939457075937],"tcp_position_m":[0.06812349443985465,0.48730457381425873,0.4349984740526499],"tcp_quaternion_wxyz":[-1.8374717603196182e-07,0.7071067950067379,0.7071067673662014,4.3102366871847793e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.5222524369607135e-16,-5.294256507993862e-17,-1.7823815329469164e-07],"object_linear_velocity_m_s":[8.475474648649348e-17,-2.3265569908262286e-16,6.606681718878476e-15],"object_angular_velocity_rad_s":[1.5157252030311175e-16,-9.978311563486874e-16,-4.438662679969706e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513237119868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103271465206,-1.592059609354987,1.306591159825283,-1.3102028077719692,-1.570795075842662,-0.4147140004221637,0.0],"actuator_force":[1.0751224181149155e-05,-19.80778003505202,-20.288456601543658,-2.41336409521341,0.0006237993670765718,-1.419494140009192e-07,-0.29336097749113216],"issued_joint_targets_rad":[-1.9855103268096195,-1.582155709375928,1.3167354582739526,-1.3053761056818716,-1.5707963236973175,-0.41471400008033743],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.139999999998157,"joint_targets_rad":[-1.9855103268096195,-1.582155709375928,1.3167354582739526,-1.3053761056818716,-1.5707963236973175,-0.41471400008033743],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.159999999998146,"qpos":[-1.9855103884932785,-1.5821572270528215,1.3167408053942518,-1.3053807602770446,-1.5707962991241065,-0.41471402582538874,0.002933608691844208,0.00015630154452650968,0.0031934770706950923,-0.003429296396695717,0.002933608593233618,0.00015630111191189907,0.003197847671467727,-0.003437994230918255,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.394904400540231e-16,-5.290753549857904e-17,-1.785880284500906e-07],"qvel":[2.840473561537709e-07,7.558390538541317e-06,-2.707650348110664e-05,2.341526292888666e-05,-1.2316487302688471e-07,1.300298735527769e-07,1.2692792070974555e-08,3.2726132716294865e-10,1.1951330136638446e-08,-1.2844119495079045e-08,1.2566160649112978e-08,-1.574562572466826e-10,9.324591627003752e-09,-1.3440690561145821e-08,1.1332711571935098e-16,-2.983932180294834e-16,6.635825073274889e-15,-6.999072306997288e-15,-2.8114444112314168e-15,-8.103877151696534e-08],"joint_position_rad":[-1.9855103884932785,-1.5821572270528215,1.3167408053942518,-1.3053807602770446,-1.5707962991241065,-0.41471402582538874],"joint_velocity_rad_s":[2.840473561537709e-07,7.558390538541317e-06,-2.707650348110664e-05,2.341526292888666e-05,-1.2316487302688471e-07,1.300298735527769e-07],"linkage_position_rad":[0.002933608691844208,0.00015630154452650968,0.0031934770706950923,-0.003429296396695717,0.002933608593233618,0.00015630111191189907,0.003197847671467727,-0.003437994230918255],"tcp_position_m":[0.06812349390740631,0.48730457794886756,0.4349986217154964],"tcp_quaternion_wxyz":[-1.677844095986722e-07,0.7071067938694968,0.7071067685034682,3.935177526971136e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.394904400540231e-16,-5.290753549857904e-17,-1.785880284500906e-07],"object_linear_velocity_m_s":[1.1332711571935098e-16,-2.983932180294834e-16,6.635825073274889e-15],"object_angular_velocity_rad_s":[-6.9990733026023564e-15,-2.8114419339384605e-15,-8.10387715169654e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513235588497,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103268095822,-1.5920596085204697,1.3065911556109708,-1.3102028022160674,-1.5707950761730405,-0.414714000079243,0.0],"actuator_force":[9.748449883772992e-06,-19.807786291512002,-20.28846896516916,-2.4133624958043356,0.0006237920202920577,-1.2991446851629007e-07,-0.2933609905486549],"issued_joint_targets_rad":[-1.9855103265044105,-1.5821557065372907,1.3167354534918367,-1.3053761008981242,-1.5707963239888192,-0.41471399976955803],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.159999999998146,"joint_targets_rad":[-1.9855103265044105,-1.5821557065372907,1.3167354534918367,-1.3053761008981242,-1.5707963239888192,-0.41471399976955803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.179999999998135,"qpos":[-1.985510383040082,-1.582157083260458,1.3167402911798407,-1.305380315374265,-1.5707963014898236,-0.41471402332939644,0.0029336089336102376,0.00015630155131840802,0.0031934772969864416,-0.0034292966425350895,0.0029336088321886755,0.0001563011083366004,0.003197847842703043,-0.0034379944885190934,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.2209230487608793e-16,-4.659456061162994e-17,-1.7889542781387836e-07],"qvel":[2.605812328213727e-07,6.857274977609271e-06,-2.449657558006553e-05,2.1201394431299182e-05,-1.1276613351378935e-07,1.1899304163667831e-07,1.1462356315977763e-08,2.958114508492501e-10,1.0792272641245567e-08,-1.1598354102235774e-08,1.1347822690977266e-08,-1.4276927111547246e-10,8.41439486188554e-09,-1.2139424884252558e-08,5.750270237999957e-17,-1.506327711309466e-16,6.709377348656306e-15,5.082513386680936e-15,1.8594460887997984e-15,-8.779887253794571e-09],"joint_position_rad":[-1.985510383040082,-1.582157083260458,1.3167402911798407,-1.305380315374265,-1.5707963014898236,-0.41471402332939644],"joint_velocity_rad_s":[2.605812328213727e-07,6.857274977609271e-06,-2.449657558006553e-05,2.1201394431299182e-05,-1.1276613351378935e-07,1.1899304163667831e-07],"linkage_position_rad":[0.0029336089336102376,0.00015630155131840802,0.0031934772969864416,-0.0034292966425350895,0.0029336088321886755,0.0001563011083366004,0.003197847842703043,-0.0034379944885190934],"tcp_position_m":[0.06812349340215286,0.4873045817068981,0.4349987550825005],"tcp_quaternion_wxyz":[-1.5319145188444778e-07,0.7071067928239787,0.7071067695490079,3.592352558285965e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.2209230487608793e-16,-4.659456061162994e-17,-1.7889542781387836e-07],"object_linear_velocity_m_s":[5.750270237999957e-17,-1.506327711309466e-16,6.709377348656306e-15],"object_angular_velocity_rad_s":[5.082514052791613e-15,1.8594442681789546e-15,-8.77988725379458e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351323420693,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551032650438,-1.5920596077727287,1.306591151795367,-1.3102027971842978,-1.5707950764724163,-0.4147139997685588,0.0],"actuator_force":[8.838910616759676e-06,-19.80779193453236,-20.28848013871493,-2.4133610444596343,0.0006237853169750451,-1.188853389066935e-07,-0.2933610023408407],"issued_joint_targets_rad":[-1.9855103262279497,-1.5821557039676524,1.3167354491630887,-1.3053760965677301,-1.570796324252892,-0.4147139994879934],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.179999999998135,"joint_targets_rad":[-1.9855103262279497,-1.5821557039676524,1.3167354491630887,-1.3053760965677301,-1.570796324252892,-0.4147139994879934],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.199999999998123,"qpos":[-1.9855103780380647,-1.5821569528076491,1.316739825960767,-1.3053799125364787,-1.570796303655542,-0.41471402104552063,0.0029336091519420373,0.00015630155745826528,0.003193477501330861,-0.003429296864541186,0.002933609047977791,0.00015630110509581347,0.0031978479972091718,-0.0034379947211822166,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.2679084235875895e-16,-4.009887629059861e-17,-1.7939439189999518e-07],"qvel":[2.390157806402368e-07,6.221085194957427e-06,-2.216250821523228e-05,1.9196821220051655e-05,-1.0323279068895826e-07,1.088799930920385e-07,1.0351240716076194e-08,2.6739657216961684e-10,9.745641453104694e-09,-1.047393999852187e-08,1.0247648661703538e-08,-1.294405815783034e-10,7.593132069074784e-09,-1.096392200798178e-08,4.9202174395839936e-17,-1.591090563639998e-16,6.782929624037723e-15,4.3126765309227775e-15,1.5946337483625801e-15,-1.602985692775887e-08],"joint_position_rad":[-1.9855103780380647,-1.5821569528076491,1.316739825960767,-1.3053799125364787,-1.570796303655542,-0.41471402104552063],"joint_velocity_rad_s":[2.390157806402368e-07,6.221085194957427e-06,-2.216250821523228e-05,1.9196821220051655e-05,-1.0323279068895826e-07,1.088799930920385e-07],"linkage_position_rad":[0.0029336091519420373,0.00015630155745826528,0.003193477501330861,-0.003429296864541186,0.002933609047977791,0.00015630110509581347,0.0031978479972091718,-0.0034379947211822166],"tcp_position_m":[0.0681234929236061,0.48730458512242025,0.4349988755383657],"tcp_quaternion_wxyz":[-1.3985257966831266e-07,0.7071067918629801,0.7071067705100245,3.2790348164352825e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.2679084235875895e-16,-4.009887629059861e-17,-1.7939439189999518e-07],"object_linear_velocity_m_s":[4.9202174395839936e-17,-1.591090563639998e-16,6.782929624037723e-15],"object_angular_velocity_rad_s":[4.312677104344765e-15,1.5946321969576333e-15,-1.6029856927758885e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513232960513,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103262279248,-1.5920596071027562,1.306591148340732,-1.310202792627221,-1.5707950767436976,-0.4147139994870813,0.0],"actuator_force":[8.01396799943177e-06,-19.807797024292086,-20.288490236783673,-2.4133597274931162,0.0006237792011916099,-1.087796590582002e-07,-0.2933610129904383],"issued_joint_targets_rad":[-1.9855103259775302,-1.5821557016415133,1.3167354452447135,-1.3053760926477223,-1.5707963244921164,-0.4147139992328978],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.199999999998123,"joint_targets_rad":[-1.9855103259775302,-1.5821557016415133,1.3167354452447135,-1.3053760926477223,-1.5707963244921164,-0.4147139992328978],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.219999999998112,"qpos":[-1.9855103734506108,-1.5821568344589638,1.3167394050679488,-1.3053795477869061,-1.5707963056379324,-0.4147140189559797,0.002933609349111855,0.00015630156300891504,0.003193477685858128,-0.003429297065020468,0.0029336092428475747,0.00015630110215821518,0.0031978481366203146,-0.0034379949313250594,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.2881700147246426e-16,-3.4620616425720266e-17,-1.7983467015099034e-07],"qvel":[2.1920105549491512e-07,5.643820054344626e-06,-2.0050867868969943e-05,1.7381759052012656e-05,-9.449415989052168e-08,9.961478483612912e-08,9.34786073443972e-09,2.416834694063185e-10,8.80051204234962e-09,-9.45805756397621e-09,9.254166267487709e-09,-1.1734620316895903e-10,6.85204821727462e-09,-9.902431714030547e-09,4.6544113805522914e-17,-1.7743912905806906e-16,6.862033014542268e-15,2.197605864500811e-15,9.619754669633862e-16,-2.926647070705324e-08],"joint_position_rad":[-1.9855103734506108,-1.5821568344589638,1.3167394050679488,-1.3053795477869061,-1.5707963056379324,-0.4147140189559797],"joint_velocity_rad_s":[2.1920105549491512e-07,5.643820054344626e-06,-2.0050867868969943e-05,1.7381759052012656e-05,-9.449415989052168e-08,9.961478483612912e-08],"linkage_position_rad":[0.002933609349111855,0.00015630156300891504,0.003193477685858128,-0.003429297065020468,0.0029336092428475747,0.00015630110215821518,0.0031978481366203146,-0.0034379949313250594],"tcp_position_m":[0.06812349247113697,0.4873045882264457,0.4349989843336082],"tcp_quaternion_wxyz":[-1.2766164843375582e-07,0.7071067909798425,0.7071067713931771,2.992723297110929e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.2881700147246426e-16,-3.4620616425720266e-17,-1.7983467015099034e-07],"object_linear_velocity_m_s":[4.6544113805522914e-17,-1.7743912905806906e-16,6.862033014542268e-15],"object_angular_velocity_rad_s":[2.1976062125201985e-15,9.619746690118352e-16,-2.9266470707053278e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513231836021,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103259775098,-1.5920596065024837,1.3065911452129069,-1.3102027885000624,-1.5707950769895203,-0.4147139992320653,0.0],"actuator_force":[7.265779913723236e-06,-19.80780161506118,-20.288499362936363,-2.4133585324833575,0.0006237736220100487,-9.952128721124609e-08,-0.2933610226081065],"issued_joint_targets_rad":[-1.9855103257506987,-1.5821556995357897,1.3167354416977946,-1.3053760890992079,-1.5707963247088303,-0.4147139990017831],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.219999999998112,"joint_targets_rad":[-1.9855103257506987,-1.5821556995357897,1.3167354416977946,-1.3053760890992079,-1.5707963247088303,-0.4147139990017831],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.239999999998101,"qpos":[-1.9855103692440017,-1.5821567270931753,1.3167390242773203,-1.305379217524687,-1.5707963074523035,-0.4147140170444568,0.00293360952717145,0.00015630156802676199,0.003193477852489921,-0.0034292972460627496,0.0029336094188266524,0.0001563010994954953,0.003197848262411907,-0.003437995121125185,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.2078697932885619e-16,-2.630543160526649e-17,-1.802520210629982e-07],"qvel":[2.0099852206299508e-07,5.1200319621173825e-06,-1.8140454879581646e-05,1.5738293615183833e-05,-8.64851774206372e-08,9.112757296671958e-08,8.44177631356536e-09,2.1847707638988897e-10,7.947144362902299e-09,-8.540771028079433e-09,8.35703104688576e-09,-1.064083428306634e-10,6.183213181910819e-09,-8.943721338374973e-09,4.277037142273611e-17,-1.9101610814463485e-16,6.959177529196969e-15,-5.267028789990406e-16,6.421458683864209e-16,-5.3433184806760685e-08],"joint_position_rad":[-1.9855103692440017,-1.5821567270931753,1.3167390242773203,-1.305379217524687,-1.5707963074523035,-0.4147140170444568],"joint_velocity_rad_s":[2.0099852206299508e-07,5.1200319621173825e-06,-1.8140454879581646e-05,1.5738293615183833e-05,-8.64851774206372e-08,9.112757296671958e-08],"linkage_position_rad":[0.00293360952717145,0.00015630156802676199,0.003193477852489921,-0.0034292972460627496,0.0029336094188266524,0.0001563010994954953,0.003197848262411907,-0.003437995121125185],"tcp_position_m":[0.06812349204400772,0.48730459104720003,0.4349990825975649],"tcp_quaternion_wxyz":[-1.1652131945639923e-07,0.7071067901684137,0.7071067722046182,2.731124756939931e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.2078697932885619e-16,-2.630543160526649e-17,-1.802520210629982e-07],"object_linear_velocity_m_s":[4.277037142273611e-17,-1.9101610814463485e-16,6.959177529196969e-15],"object_angular_velocity_rad_s":[-5.267026446916623e-16,6.421460453568304e-16,-5.343318480676076e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351323082151,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510325750682,-1.5920596059646763,1.3065911423809657,-1.3102027847622715,-1.5707950772122732,-0.4147139990010233,0.0],"actuator_force":[6.587230018340051e-06,-19.807805755787285,-20.28850761075728,-2.4133574481537607,0.0006237685329324449,-9.104053333430784e-08,-0.2933610312939419],"issued_joint_targets_rad":[-1.9855103255452338,-1.5821556976295879,1.3167354384871055,-1.3053760858869778,-1.5707963249051515,-0.41471399879239584],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.239999999998101,"joint_targets_rad":[-1.9855103255452338,-1.5821556976295879,1.3167354384871055,-1.3053760858869778,-1.5707963249051515,-0.41471399879239584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.25999999999809,"qpos":[-1.9855103653871935,-1.5821566296927279,1.3167386797674092,-1.30537891848935,-1.5707963091127055,-0.414714015295982,0.0029336096879736245,0.00015630157256296394,0.003193478002962384,-0.003429297409554888,0.00293360957774686,0.0001563010970819091,0.0031978483759144763,-0.0034379952925553234,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-1.0215085198589513e-16,-1.9289982576280947e-17,-1.8055186508895712e-07],"qvel":[1.8428021544123947e-07,4.644775920548766e-06,-1.6412090461172696e-05,1.4250203846015448e-05,-7.914598674222265e-08,8.335412934957556e-08,7.62354491240977e-09,1.974870621961067e-10,7.176524803247701e-09,-7.71284270780101e-09,7.546895648971729e-09,-9.647410360346695e-11,5.579727359370157e-09,-8.078019253466132e-09,5.356798967064107e-17,-2.459282832408062e-16,7.024403131893699e-15,-6.8655997117207465e-15,-1.2558217062639272e-15,-9.755550189743798e-08],"joint_position_rad":[-1.9855103653871935,-1.5821566296927279,1.3167386797674092,-1.30537891848935,-1.5707963091127055,-0.414714015295982],"joint_velocity_rad_s":[1.8428021544123947e-07,4.644775920548766e-06,-1.6412090461172696e-05,1.4250203846015448e-05,-7.914598674222265e-08,8.335412934957556e-08],"linkage_position_rad":[0.0029336096879736245,0.00015630157256296394,0.003193478002962384,-0.003429297409554888,0.00293360957774686,0.0001563010970819091,0.0031978483759144763,-0.0034379952925553234],"tcp_position_m":[0.06812349164139557,0.48730459361037115,0.43499917135014365],"tcp_quaternion_wxyz":[-1.0634235015111474e-07,0.7071067894230109,0.7071067729500317,2.4921369136915934e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-1.0215085198589513e-16,-1.9289982576280947e-17,-1.8055186508895712e-07],"object_linear_velocity_m_s":[5.356798967064107e-17,-2.459282832408062e-16,7.024403131893699e-15],"object_angular_velocity_rad_s":[-6.865600161438527e-15,-1.2558192470009373e-15,-9.755550189743812e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513229906262,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103255452202,-1.5920596054828489,1.3065911398169088,-1.3102027813771189,-1.570795077414121,-0.4147139987917025,0.0],"actuator_force":[5.971860446152277e-06,-19.807809490609998,-20.288515064816238,-2.413356464268986,0.0006237638908714871,-8.327319278578216e-08,-0.29336103913822703],"issued_joint_targets_rad":[-1.9855103253591235,-1.5821556959039984,1.316735435580768,-1.305376082979164,-1.570796325082999,-0.41471399860269326],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.25999999999809,"joint_targets_rad":[-1.9855103253591235,-1.5821556959039984,1.316735435580768,-1.305376082979164,-1.570796325082999,-0.41471399860269326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.27999999999808,"qpos":[-1.9855103618516126,-1.5821565413341716,1.3167383680809608,-1.3053786477286382,-1.5707963106320357,-0.4147140136968235,0.0029336098331916344,0.00015630157666388686,0.0031934781388437395,-0.0034292975571980117,0.0029336097212625026,0.00015630109489423306,0.003197848478329112,-0.003437995447392386,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-9.581876237254054e-17,-1.7909878034672553e-17,-1.8092191634536085e-07],"qvel":[1.6892798597234606e-07,4.2135632547560105e-06,-1.4848423998657694e-05,1.2902801863346638e-05,-7.24215220348876e-08,7.62354157286531e-08,6.884650377036649e-09,1.7850110700365157e-10,6.480609344728744e-09,-6.9650231022520776e-09,6.8153231199159736e-09,-8.74713449740933e-11,5.0351692014360875e-09,-7.295952400414915e-09,2.158633704063589e-17,-1.18095644168116e-16,7.0521587075093295e-15,3.692273990746452e-15,6.176593704498993e-16,-1.0569339732247879e-08],"joint_position_rad":[-1.9855103618516126,-1.5821565413341716,1.3167383680809608,-1.3053786477286382,-1.5707963106320357,-0.4147140136968235],"joint_velocity_rad_s":[1.6892798597234606e-07,4.2135632547560105e-06,-1.4848423998657694e-05,1.2902801863346638e-05,-7.24215220348876e-08,7.62354157286531e-08],"linkage_position_rad":[0.0029336098331916344,0.00015630157666388686,0.0031934781388437395,-0.0034292975571980117,0.0029336097212625026,0.00015630109489423306,0.003197848478329112,-0.003437995447392386],"tcp_position_m":[0.06812349126241495,0.4873045959393343,0.43499925151243096],"tcp_quaternion_wxyz":[-9.704293725634101e-08,0.7071067887383868,0.7071067736346646,2.2738329739047222e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-9.581876237254054e-17,-1.7909878034672553e-17,-1.8092191634536085e-07],"object_linear_velocity_m_s":[2.158633704063589e-17,-1.18095644168116e-16,7.0521587075093295e-15],"object_angular_velocity_rad_s":[3.692274214621041e-15,6.176580323978055e-16,-1.0569339732247895e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322908053,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103253591124,-1.592059605051191,1.3065911374953927,-1.3102027783113435,-1.5707950775970259,-0.4147139986020606,0.0],"actuator_force":[5.413805865828181e-06,-19.80781285934063,-20.288521801536263,-2.4133555715390003,0.0006237596570599635,-7.616011998834438e-08,-0.29336104622257436],"issued_joint_targets_rad":[-1.985510325190545,-1.582155694341904,1.3167354329499241,-1.3053760803469145,-1.5707963252441113,-0.41471399843082507],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.27999999999808,"joint_targets_rad":[-1.985510325190545,-1.582155694341904,1.3167354329499241,-1.3053760803469145,-1.5707963252441113,-0.41471399843082507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.299999999998068,"qpos":[-1.985510358610965,-1.5821564611794756,1.316738086090221,-1.3053784025693784,-1.5707963120221275,-0.41471401223438714,0.0029336099643363246,0.0001563015803712155,0.003193478261548893,-0.003429297690527668,0.0029336098508672866,0.00015630109291130904,0.0031978485707393417,-0.0034379955872443687,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-8.774978329844323e-17,-2.8653598721297955e-17,-1.813954760483083e-07],"qvel":[1.5483277717207493e-07,3.8223196161025094e-06,-1.3433758802060248e-05,1.1682788116136811e-05,-6.626114769518451e-08,6.97171688419778e-08,6.217405532949074e-09,1.6136158002222366e-10,5.852280224766841e-09,-6.289668516273393e-09,6.154701374853811e-09,-7.929747647090428e-11,4.543791677614443e-09,-6.589631528964732e-09,3.6822891849613824e-17,-1.116357965300864e-16,6.4901083012928456e-15,3.02473603843613e-15,6.355837605403652e-16,-1.9296945260383414e-08],"joint_position_rad":[-1.985510358610965,-1.5821564611794756,1.316738086090221,-1.3053784025693784,-1.5707963120221275,-0.41471401223438714],"joint_velocity_rad_s":[1.5483277717207493e-07,3.8223196161025094e-06,-1.3433758802060248e-05,1.1682788116136811e-05,-6.626114769518451e-08,6.97171688419778e-08],"linkage_position_rad":[0.0029336099643363246,0.0001563015803712155,0.003193478261548893,-0.003429297690527668,0.0029336098508672866,0.00015630109291130904,0.0031978485707393417,-0.0034379955872443687],"tcp_position_m":[0.06812349090613538,0.4873045980553586,0.4349993239162716],"tcp_quaternion_wxyz":[-8.854811292840654e-08,0.7071067881096981,0.7071067742633607,2.0744473383637677e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-8.774978329844323e-17,-2.8653598721297955e-17,-1.813954760483083e-07],"object_linear_velocity_m_s":[3.6822891849613824e-17,-1.116357965300864e-16,6.4901083012928456e-15],"object_angular_velocity_rad_s":[3.0247362701258275e-15,6.355826598068516e-16,-1.9296945260383447e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513228335563,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510325190536,-1.5920596046644937,1.3065911353934698,-1.310202775534817,-1.570795077762765,-0.41471399843024787,0.0],"actuator_force":[4.907747552351793e-06,-19.807815897882392,-20.288527889981196,-2.4133547615308544,0.0006237557960275808,-6.964722842894844e-08,-0.2933610526207151],"issued_joint_targets_rad":[-1.9855103250378459,-1.5821556929278096,1.3167354305684544,-1.305376077964116,-1.570796325390062,-0.4147139982751147],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.299999999998068,"joint_targets_rad":[-1.9855103250378459,-1.5821556929278096,1.3167354305684544,-1.305376077964116,-1.570796325390062,-0.4147139982751147],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.319999999998057,"qpos":[-1.985510355641061,-1.5821563884681427,1.316737830965524,-1.3053781805911007,-1.5707963132938387,-0.41471401089712484,0.002933610082772105,0.00015630158372282953,0.003193478372356576,-0.0034292978109320875,0.0029336099679101073,0.0001563010911139602,0.0031978486541226025,-0.0034379957135601516,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-9.154803133864287e-17,-4.076098957113928e-17,-1.818063578911585e-07],"qvel":[1.4189397413853584e-07,3.467346817658535e-06,-1.2153894391399186e-05,1.0578120134872193e-05,-6.061829995513155e-08,6.374952949256928e-08,5.614841963961431e-09,1.458458254627588e-10,5.284874863620189e-09,-5.6797303883365485e-09,5.558128068515692e-09,-7.18959162031568e-11,4.10036248097306e-09,-5.951754516641417e-09,6.363078116156908e-17,-1.3635955334553607e-16,5.567235412073184e-15,2.0756302306144642e-16,-4.837103494083051e-16,-3.523134895987506e-08],"joint_position_rad":[-1.985510355641061,-1.5821563884681427,1.316737830965524,-1.3053781805911007,-1.5707963132938387,-0.41471401089712484],"joint_velocity_rad_s":[1.4189397413853584e-07,3.467346817658535e-06,-1.2153894391399186e-05,1.0578120134872193e-05,-6.061829995513155e-08,6.374952949256928e-08],"linkage_position_rad":[0.002933610082772105,0.00015630158372282953,0.003193478372356576,-0.0034292978109320875,0.0029336099679101073,0.0001563010911139602,0.0031978486541226025,-0.0034379957135601516],"tcp_position_m":[0.06812349057159756,0.4873045999777962,0.43499938931292026],"tcp_quaternion_wxyz":[-8.078918709992775e-08,0.707106787532475,0.7071067748405895,1.892362473661431e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-9.154803133864287e-17,-4.076098957113928e-17,-1.818063578911585e-07],"object_linear_velocity_m_s":[6.363078116156908e-17,-1.3635955334553607e-16,5.567235412073184e-15],"object_angular_velocity_rad_s":[2.0756285005032742e-16,-4.837104313315503e-16,-3.523134895987513e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322766344,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103250378385,-1.5920596043180866,1.3065911334903657,-1.3102027730202561,-1.5707950779129487,-0.4147139982745881,0.0],"actuator_force":[4.448854724614648e-06,-19.807818638614663,-20.288533392559657,-2.4133540265911506,0.0006237522750325297,-6.368458116412512e-08,-0.29336105839896076],"issued_joint_targets_rad":[-1.9855103248995312,-1.582155691647691,1.316735428412717,-1.3053760758071276,-1.5707963255222783,-0.41471399813404386],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.319999999998057,"joint_targets_rad":[-1.9855103248995312,-1.582155691647691,1.316735428412717,-1.3053760758071276,-1.5707963255222783,-0.41471399813404386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.339999999998046,"qpos":[-1.9855103529196523,-1.5821563225100495,1.3167376001468818,-1.3053779796021516,-1.570796314457128,-0.4147140096744489,0.002933610189731013,0.00015630158675278679,0.0031934784724202336,-0.003429297919666392,0.002933610073608992,0.00015630108948490375,0.0031978487293609654,-0.0034379958276520854,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999845,-6.849217703768945e-17,-5.842087157852817e-17,-1.821839849132369e-07],"qvel":[1.300187657329282e-07,3.1452881776722998e-06,-1.0995983870812572e-05,9.577893743685207e-06,-5.545018835037305e-08,5.828669120821218e-08,5.070708383474144e-09,1.3184384944201288e-10,4.772475404272078e-09,-5.12914866003566e-09,5.01941170911583e-09,-6.517498816015957e-11,3.700286965043486e-09,-5.37547217802374e-09,1.2912448570722953e-16,-1.0545378762598967e-16,5.4159675249680085e-15,2.6372733719648618e-15,-5.170473506868374e-15,-6.432354617704215e-08],"joint_position_rad":[-1.9855103529196523,-1.5821563225100495,1.3167376001468818,-1.3053779796021516,-1.570796314457128,-0.4147140096744489],"joint_velocity_rad_s":[1.300187657329282e-07,3.1452881776722998e-06,-1.0995983870812572e-05,9.577893743685207e-06,-5.545018835037305e-08,5.828669120821218e-08],"linkage_position_rad":[0.002933610189731013,0.00015630158675278679,0.0031934784724202336,-0.003429297919666392,0.002933610073608992,0.00015630108948490375,0.0031978487293609654,-0.0034379958276520854],"tcp_position_m":[0.06812349025782742,0.48730460172425316,0.4349994483808515],"tcp_quaternion_wxyz":[-7.370323411804006e-08,0.7071067870025958,0.7071067753704736,1.7260967517342703e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999845,-6.849217703768945e-17,-5.842087157852817e-17,-1.821839849132369e-07],"object_linear_velocity_m_s":[1.2912448570722953e-16,-1.0545378762598967e-16,5.4159675249680085e-15],"object_angular_velocity_rad_s":[2.6372714955254307e-15,-5.170474476617307e-15,-6.432354617704228e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513227057074,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103248995252,-1.592059604007786,1.306591131767272,-1.310202770742949,-1.5707950780490372,-0.4147139981335635,0.0],"actuator_force":[4.032747710880358e-06,-19.807821110744044,-20.288538365670775,-2.4133533597731684,0.000623749064175172,-5.8226419241691474e-08,-0.2933610636176007],"issued_joint_targets_rad":[-1.985510324774246,-1.5821556904888519,1.3167354264613123,-1.3053760738545501,-1.5707963256420525,-0.4147139980062359],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.339999999998046,"joint_targets_rad":[-1.985510324774246,-1.5821556904888519,1.3167354264613123,-1.3053760738545501,-1.5707963256420525,-0.4147139980062359],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.359999999998035,"qpos":[-1.9855103504262785,-1.582156262678949,1.3167373913182783,-1.3053777976180678,-1.5707963155211297,-0.4147140085566538,0.002933610286325639,0.00015630158949199845,0.003193478562782172,-0.0034292980178611226,0.0029336101690638295,0.00015630108800828417,0.003197848797249996,-0.003437995930703463,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-4.251965825986669e-17,-6.614142827159703e-17,-1.8248321425681021e-07],"qvel":[1.1912156500677966e-07,2.8530970628466768e-06,-9.948404880609137e-06,8.672235478015018e-06,-5.0717484135857374e-08,5.3286587144190065e-08,4.579325591886651e-09,1.1917552840585922e-10,4.309755460020816e-09,-4.632016519588587e-09,4.5329290500987344e-09,-5.908075989779006e-11,3.339208708596318e-09,-4.85522649033259e-09,2.5499196213003545e-16,-1.1724008716697775e-16,6.104305800235606e-15,-2.26132428418322e-15,-1.307056290588167e-14,-1.1743855160082488e-07],"joint_position_rad":[-1.9855103504262785,-1.582156262678949,1.3167373913182783,-1.3053777976180678,-1.5707963155211297,-0.4147140085566538],"joint_velocity_rad_s":[1.1912156500677966e-07,2.8530970628466768e-06,-9.948404880609137e-06,8.672235478015018e-06,-5.0717484135857374e-08,5.3286587144190065e-08],"linkage_position_rad":[0.002933610286325639,0.00015630158949199845,0.003193478562782172,-0.0034292980178611226,0.0029336101690638295,0.00015630108800828417,0.003197848797249996,-0.003437995930703463],"tcp_position_m":[0.0681234899638444,0.48730460331074477,0.4349995017328142],"tcp_quaternion_wxyz":[-6.723262001227973e-08,0.7071067865162576,0.7071067758568162,1.5742933224694792e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-4.251965825986669e-17,-6.614142827159703e-17,-1.8248321425681021e-07],"object_linear_velocity_m_s":[2.5499196213003545e-16,-1.1724008716697775e-16,6.104305800235606e-15],"object_angular_velocity_rad_s":[-2.2613290389646266e-15,-1.3070562090560249e-14,-1.1743855160082488e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513226510012,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103247742412,-1.5920596037298387,1.3065911302071604,-1.3102027686805153,-1.570795078172353,-0.4147139980057977,0.0],"actuator_force":[3.6554488360707182e-06,-19.807823340604955,-20.288542860283542,-2.4133527547716085,0.0006237461368527875,-5.32306785316905e-08,-0.2933610683307466],"issued_joint_targets_rad":[-1.9855103246607633,-1.5821556894398001,1.3167354246948677,-1.3053760720870105,-1.5707963257505555,-0.4147139978904437],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.359999999998035,"joint_targets_rad":[-1.9855103246607633,-1.5821556894398001,1.3167354246948677,-1.3053760720870105,-1.5707963257505555,-0.4147139978904437],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.379999999998024,"qpos":[-1.9855103481421308,-1.5821562084065677,1.3167372023844137,-1.3053776328419893,-1.5707963164942202,-0.4147140075348444,0.0029336103735607046,0.00015630159196840183,0.0031934786443836146,-0.0034292981065386905,0.0029336102552678686,0.00015630108666988762,0.0031978488585081817,-0.0034379960237822657,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-3.904185870297629e-17,-8.92302720966611e-17,-1.829286866568785e-07],"qvel":[1.0912347957034174e-07,2.588008307487029e-06,-9.000642869765709e-06,7.85220517439818e-06,-4.638405203855793e-08,4.871058899375667e-08,4.135577931277677e-09,1.0773392573191709e-10,3.89196044798685e-09,-4.182915612921322e-09,4.09361258632359e-09,-5.357559021021111e-11,3.0133032599784647e-09,-4.385514942731006e-09,1.0682864596370447e-16,-4.944288636842435e-17,6.3332892990645444e-15,1.3049999168716602e-15,2.6158627740383736e-15,-1.272350534198665e-08],"joint_position_rad":[-1.9855103481421308,-1.5821562084065677,1.3167372023844137,-1.3053776328419893,-1.5707963164942202,-0.4147140075348444],"joint_velocity_rad_s":[1.0912347957034174e-07,2.588008307487029e-06,-9.000642869765709e-06,7.85220517439818e-06,-4.638405203855793e-08,4.871058899375667e-08],"linkage_position_rad":[0.0029336103735607046,0.00015630159196840183,0.0031934786443836146,-0.0034292981065386905,0.0029336102552678686,0.00015630108666988762,0.0031978488585081817,-0.0034379960237822657],"tcp_position_m":[0.06812348968867313,0.48730460475183857,0.4349995499222038],"tcp_quaternion_wxyz":[-6.132456707683892e-08,0.7071067860699554,0.707106776303122,1.4357098263809257e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-3.904185870297629e-17,-8.92302720966611e-17,-1.829286866568785e-07],"object_linear_velocity_m_s":[1.0682864596370447e-16,-4.944288636842435e-17,6.3332892990645444e-15],"object_angular_velocity_rad_s":[1.3050008761748998e-15,2.6158622956008582e-15,-1.2723505341986654e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513226016451,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103246607593,-1.5920596034808827,1.3065911287946117,-1.3102027668126832,-1.5707950782840951,-0.4147139978900441,0.0],"actuator_force":[3.313351044198498e-06,-19.807825351952943,-20.288546922456135,-2.413352205864385,0.0006237434678268983,-4.865876235271571e-08,-0.29336107258738126],"issued_joint_targets_rad":[-1.985510324557971,-1.5821556884901349,1.3167354230958541,-1.3053760704869761,-1.570796325848847,-0.4147139977855386],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.379999999998024,"joint_targets_rad":[-1.985510324557971,-1.5821556884901349,1.3167354230958541,-1.3053760704869761,-1.570796325848847,-0.4147139977855386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.399999999998013,"qpos":[-1.9855103460499193,-1.5821561591772488,1.316737031449669,-1.305377483646927,-1.5707963173840798,-0.41471400660086916,0.0029336104523434905,0.00015630159420719302,0.0031934787180743556,-0.003429298186621031,0.002933610333118018,0.00015630108545690327,0.003197848913783426,-0.0034379961078547417,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-5.627881049973259e-17,-9.914672705862271e-17,-1.8337625068934593e-07],"qvel":[9.99518098521301e-08,2.3475122488840105e-06,-8.143185450567325e-06,7.1097077282502906e-06,-4.2416690317719685e-08,4.4523226908976063e-08,3.734852577054018e-09,9.737961874313004e-11,3.5146766944991417e-09,-3.777494096663145e-09,3.696897084995987e-09,-4.855542354507875e-11,2.7193346582048643e-09,-3.960782760035326e-09,1.2975230997588207e-16,-7.378224048673316e-17,6.376310441268772e-15,4.193235113593465e-16,2.0095781459472726e-15,-2.3229907669198175e-08],"joint_position_rad":[-1.9855103460499193,-1.5821561591772488,1.316737031449669,-1.305377483646927,-1.5707963173840798,-0.41471400660086916],"joint_velocity_rad_s":[9.99518098521301e-08,2.3475122488840105e-06,-8.143185450567325e-06,7.1097077282502906e-06,-4.2416690317719685e-08,4.4523226908976063e-08],"linkage_position_rad":[0.0029336104523434905,0.00015630159420719302,0.0031934787180743556,-0.003429298186621031,0.002933610333118018,0.00015630108545690327,0.003197848913783426,-0.0034379961078547417],"tcp_position_m":[0.06812348943135008,0.4873046060607854,0.43499959344881045],"tcp_quaternion_wxyz":[-5.5930752954685356e-08,0.7071067856604588,0.7071067767126215,1.309208935488411e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-5.627881049973259e-17,-9.914672705862271e-17,-1.8337625068934593e-07],"object_linear_velocity_m_s":[1.2975230997588207e-16,-7.378224048673316e-17,6.376310441268772e-15],"object_angular_velocity_rad_s":[4.1932425298346835e-16,2.0095779895444874e-15,-2.3229907669198182e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513225571154,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103245579677,-1.592059603257906,1.3065911275156723,-1.3102027651210977,-1.5707950783853488,-0.41471399778517415,0.0],"actuator_force":[3.0031787900952622e-06,-19.807827166213883,-20.288550593812943,-2.413351707858169,0.0006237410343601368,-4.4475200411397964e-08,-0.29336107643182374],"issued_joint_targets_rad":[-1.9855103244648622,-1.582155687630437,1.3167354216483949,-1.3053760690385698,-1.570796325937889,-0.4147139976904968],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.399999999998013,"joint_targets_rad":[-1.9855103244648622,-1.582155687630437,1.3167354216483949,-1.3053760690385698,-1.570796325937889,-0.4147139976904968],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.419999999998002,"qpos":[-1.9855103441337556,-1.582156114523092,1.316736876799069,-1.3053773485597044,-1.5707963181977482,-0.4147140057472593,0.002933610523493251,0.00015630159623120996,0.0031934787846210973,-0.0034292982589422603,0.0029336104034241315,0.00015630108435739425,0.0031978489636598014,-0.0034379961837926816,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-6.573577693636653e-17,-1.1518540681944885e-16,-1.838102727176491e-07],"qvel":[9.153957182569954e-08,2.129331206979246e-06,-7.367426930342077e-06,6.437413270547657e-06,-3.878491794495241e-08,4.069194839628997e-08,3.372967209616756e-09,8.803567359935783e-11,3.174019599570209e-09,-3.411223055858668e-09,3.3386360914766044e-09,-4.4030984606645836e-11,2.453981438349289e-09,-3.5776850868783462e-09,1.7445983909025576e-16,-9.763224764624283e-17,6.5012105315391e-15,-5.562435861568151e-16,-1.5492827197513105e-15,-4.241194512166142e-08],"joint_position_rad":[-1.9855103441337556,-1.582156114523092,1.316736876799069,-1.3053773485597044,-1.5707963181977482,-0.4147140057472593],"joint_velocity_rad_s":[9.153957182569954e-08,2.129331206979246e-06,-7.367426930342077e-06,6.437413270547657e-06,-3.878491794495241e-08,4.069194839628997e-08],"linkage_position_rad":[0.002933610523493251,0.00015630159623120996,0.0031934787846210973,-0.0034292982589422603,0.0029336104034241315,0.00015630108435739425,0.0031978489636598014,-0.0034379961837926816],"tcp_position_m":[0.06812348919092824,0.48730460724963526,0.4349996327640182],"tcp_quaternion_wxyz":[-5.100694361174288e-08,0.7071067852847903,0.7071067770882922,1.193749671636972e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-6.573577693636653e-17,-1.1518540681944885e-16,-1.838102727176491e-07],"object_linear_velocity_m_s":[1.7445983909025576e-16,-9.763224764624283e-17,6.5012105315391e-15],"object_angular_velocity_rad_s":[-5.56244145934463e-16,-1.5492825208406022e-15,-4.241194512166144e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513225169408,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103244648595,-1.5920596030582046,1.3065911263576984,-1.310202763589129,-1.570795078477099,-0.41471399769016454,0.0],"actuator_force":[2.7219634830544237e-06,-19.807828802707718,-20.288553911969302,-2.4133512560392774,0.0006237388164436197,-4.064744985043944e-08,-0.29336107990388566],"issued_joint_targets_rad":[-1.9855103243805248,-1.5821556868521844,1.3167354203381287,-1.3053760677274253,-1.570796326018551,-0.41471399760439065],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.419999999998002,"joint_targets_rad":[-1.9855103243805248,-1.5821556868521844,1.3167354203381287,-1.3053760677274253,-1.570796326018551,-0.41471399760439065],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.43999999999799,"qpos":[-1.9855103423790417,-1.5821560740195366,1.3167367368810705,-1.3053772262464205,-1.5707963189416791,-0.4147140049671727,0.0029336105877498637,0.00015630159806104157,0.003193478844717133,-0.0034292983242556795,0.002933610466917601,0.00015630108336088216,0.003197849008665155,-0.0034379962523827393,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-6.9149725490581e-17,-1.1089149884909023e-16,-1.8414458255284285e-07],"qvel":[8.382507181790958e-08,1.931398042322833e-06,-6.665581791545894e-06,5.828684798515453e-06,-3.5460734060214676e-08,3.7186881952510035e-08,3.0461632315144356e-09,7.9575807283154e-11,2.8663492337522185e-09,-3.0806654318071712e-09,3.0151109250596615e-09,-3.991820400859212e-11,2.214532729959e-09,-3.231453367914518e-09,2.288070258377153e-16,-1.5735794017484154e-16,6.556721682770359e-15,-5.474180640097361e-15,-5.355460843571577e-15,-7.743350144210155e-08],"joint_position_rad":[-1.9855103423790417,-1.5821560740195366,1.3167367368810705,-1.3053772262464205,-1.5707963189416791,-0.4147140049671727],"joint_velocity_rad_s":[8.382507181790958e-08,1.931398042322833e-06,-6.665581791545894e-06,5.828684798515453e-06,-3.5460734060214676e-08,3.7186881952510035e-08],"linkage_position_rad":[0.0029336105877498637,0.00015630159806104157,0.003193478844717133,-0.0034292983242556795,0.002933610466917601,0.00015630108336088216,0.003197849008665155,-0.0034379962523827393],"tcp_position_m":[0.06812348896648537,0.4873046083293473,0.434999668275493],"tcp_quaternion_wxyz":[-4.651265308291021e-08,0.7071067849402086,0.7071067774328761,1.0883793999145354e-07],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-6.9149725490581e-17,-1.1089149884909023e-16,-1.8414458255284285e-07],"object_linear_velocity_m_s":[2.288070258377153e-16,-1.5735794017484154e-16,6.556721682770359e-15],"object_angular_velocity_rad_s":[-5.474182595281764e-15,-5.3554588381988135e-15,-7.74335014421016e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513224806952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103243805226,-1.5920596028793597,1.3065911253092533,-1.3102027622017212,-1.5707950785602374,-0.41471399760408767,0.0],"actuator_force":[2.4670093807799276e-06,-19.807830278863094,-20.288556910917578,-2.413350846130129,0.0006237367942958372,-3.714569629664766e-08,-0.29336108303974406],"issued_joint_targets_rad":[-1.9855103243041328,-1.5821556861476596,1.3167354191520486,-1.305376066540533,-1.5707963260916218,-0.41471399752638083],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.43999999999799,"joint_targets_rad":[-1.9855103243041328,-1.5821556861476596,1.3167354191520486,-1.305376066540533,-1.5707963260916218,-0.41471399752638083],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.45999999999798,"qpos":[-1.9855103407723678,-1.582156037281354,1.316736610291983,-1.3053771154992797,-1.5707963196217865,-0.4147140042543421,0.0029336106457814337,0.00015630159971533094,0.0031934788989878182,-0.003429298383238964,0.0029336105242588418,0.0001563010824576754,0.003197849049275273,-0.0034379963143379507,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-6.839304013883548e-17,-9.668798371408452e-17,-1.8443830626846182e-07],"qvel":[7.675150511028131e-08,1.7518367638402397e-06,-6.030606592129241e-06,5.277512713242685e-06,-3.241844171659538e-08,3.39806120976123e-08,2.751032290491708e-09,7.192583428412548e-11,2.588502500179064e-09,-2.782097538146882e-09,2.722946449368882e-09,-3.6189043863721197e-11,1.998459998674024e-09,-2.9189051439318182e-09,1.1900291560595626e-16,-8.098529197955622e-17,6.620559506686305e-15,2.4164107310133214e-15,4.176914362190487e-15,-8.38928576534318e-09],"joint_position_rad":[-1.9855103407723678,-1.582156037281354,1.316736610291983,-1.3053771154992797,-1.5707963196217865,-0.4147140042543421],"joint_velocity_rad_s":[7.675150511028131e-08,1.7518367638402397e-06,-6.030606592129241e-06,5.277512713242685e-06,-3.241844171659538e-08,3.39806120976123e-08],"linkage_position_rad":[0.0029336106457814337,0.00015630159971533094,0.0031934788989878182,-0.003429298383238964,0.0029336105242588418,0.0001563010824576754,0.003197849049275273,-0.0034379963143379507],"tcp_position_m":[0.06812348875712418,0.4873046093098866,0.43499970035141855],"tcp_quaternion_wxyz":[-4.241083187536665e-08,0.7071067846241884,0.7071067777488983,9.922264654275228e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-6.839304013883548e-17,-9.668798371408452e-17,-1.8443830626846182e-07],"object_linear_velocity_m_s":[1.1900291560595626e-16,-8.098529197955622e-17,6.620559506686305e-15],"object_angular_velocity_rad_s":[2.416412273401466e-15,4.176913469685263e-15,-8.389285765343185e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513224479941,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510324304131,-1.5920596027191998,1.3065911243599742,-1.310202760945235,-1.5707950786355722,-0.4147139975261046,0.0],"actuator_force":[2.2358713067660574e-06,-19.80783161039699,-20.288559621380955,-2.4133504742490004,0.0006237349513185109,-3.3942484378712834e-08,-0.29336108587190746],"issued_joint_targets_rad":[-1.9855103242349375,-1.5821556855098775,1.3167354180783848,-1.305376065466119,-1.5707963261578157,-0.4147139974557058],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.45999999999798,"joint_targets_rad":[-1.9855103242349375,-1.5821556855098775,1.3167354180783848,-1.305376065466119,-1.5707963261578157,-0.4147139974557058],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.479999999997968,"qpos":[-1.9855103393014173,-1.582156003959013,1.3167364957618768,-1.3053770152246762,-1.5707963202434883,-0.41471400360302757,0.002933610698191317,0.00015630160121094116,0.0031934789479983066,-0.0034292984365081607,0.002933610576044272,0.0001563010816391148,0.0031978490859196716,-0.003437996370298023,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-7.010881453490716e-17,-1.0451331185545634e-16,-1.849150723343665e-07],"qvel":[7.026657791747533e-08,1.5889448782896204e-06,-5.45612916778012e-06,4.7784555087952005e-06,-2.9634450491849878e-08,3.104799541997899e-08,2.484517651220427e-09,6.50304183159123e-11,2.3375934219309335e-09,-2.5124314831233498e-09,2.4591132318462613e-09,-3.281729387450153e-11,1.8034660220184452e-09,-2.6363317343890242e-09,1.3222747967195948e-16,-8.551404709295927e-17,6.699662897190848e-15,2.422772950144275e-15,3.580649118627556e-15,-1.531671724900803e-08],"joint_position_rad":[-1.9855103393014173,-1.582156003959013,1.3167364957618768,-1.3053770152246762,-1.5707963202434883,-0.41471400360302757],"joint_velocity_rad_s":[7.026657791747533e-08,1.5889448782896204e-06,-5.45612916778012e-06,4.7784555087952005e-06,-2.9634450491849878e-08,3.104799541997899e-08],"linkage_position_rad":[0.002933610698191317,0.00015630160121094116,0.0031934789479983066,-0.0034292984365081607,0.002933610576044272,0.0001563010816391148,0.0031978490859196716,-0.003437996370298023],"tcp_position_m":[0.06812348856197656,0.4873046102003139,0.4349997293243246],"tcp_quaternion_wxyz":[-3.866758265816102e-08,0.707106784334404,0.7071067780386838,9.044934660270841e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-7.010881453490716e-17,-1.0451331185545634e-16,-1.849150723343665e-07],"object_linear_velocity_m_s":[1.3222747967195948e-16,-8.551404709295927e-17,6.699662897190848e-15],"object_angular_velocity_rad_s":[2.4227742775776947e-15,3.580648220465169e-15,-1.5316717249008043e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513224184898,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510324234936,-1.5920596025757805,1.306591123500483,-1.3102027598073194,-1.5707950787038356,-0.41471399745545395,0.0],"actuator_force":[2.02633145818254e-06,-19.80783281148615,-20.288562071120396,-2.413350136872509,0.0006237332713681099,-3.101274614891736e-08,-0.29336108842993386],"issued_joint_targets_rad":[-1.9855103241722605,-1.5821556849325156,1.316735417106482,-1.3053760644935248,-1.5707963262177802,-0.4147139973916758],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.479999999997968,"joint_targets_rad":[-1.9855103241722605,-1.5821556849325156,1.316735417106482,-1.3053760644935248,-1.5707963262177802,-0.4147139973916758],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.499999999997957,"qpos":[-1.985510337954882,-1.582155973735376,1.3167363921418338,-1.3053769244323938,-1.5707963208117495,-0.4147140030079729,0.0029336107455243056,0.00015630160256308663,0.0031934789922587153,-0.0034292984846132604,0.002933610622812384,0.0001563010808971642,0.003197849118985745,-0.0034379964208445402,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.1023676921777803e-16,-8.988101287247556e-17,-1.8539153217128445e-07],"qvel":[6.432216887804248e-08,1.441177373683882e-06,-4.9363846655355125e-06,4.326586065349583e-06,-2.708711535463103e-08,2.836596693032937e-08,2.2438275183664633e-09,5.878483214549105e-11,2.1110759373787807e-09,-2.268786151181461e-09,2.2208498358634583e-09,-2.974648745567225e-11,1.6275434964631199e-09,-2.381330372598287e-09,1.1922285354346507e-16,-1.4564105738674382e-16,6.762112942326015e-15,-5.987521262006e-17,2.692625266654396e-15,-2.7964457743852967e-08],"joint_position_rad":[-1.985510337954882,-1.582155973735376,1.3167363921418338,-1.3053769244323938,-1.5707963208117495,-0.4147140030079729],"joint_velocity_rad_s":[6.432216887804248e-08,1.441177373683882e-06,-4.9363846655355125e-06,4.326586065349583e-06,-2.708711535463103e-08,2.836596693032937e-08],"linkage_position_rad":[0.0029336107455243056,0.00015630160256308663,0.0031934789922587153,-0.0034292984846132604,0.002933610622812384,0.0001563010808971642,0.003197849118985745,-0.0034379964208445402],"tcp_position_m":[0.0681234883802072,0.48730461100886674,0.4349997554945383],"tcp_quaternion_wxyz":[-3.525189437205591e-08,0.7071067840687159,0.7071067783043726,8.244510201608724e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.1023676921777803e-16,-8.988101287247556e-17,-1.8539153217128445e-07],"object_linear_velocity_m_s":[1.1922285354346507e-16,-1.4564105738674382e-16,6.762112942326015e-15],"object_angular_velocity_rad_s":[-5.987420921326202e-17,2.6926252826895047e-15,-2.7964457743852997e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513223918689,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103241722594,-1.5920596024473594,1.3065911227222875,-1.3102027587767882,-1.5707950787656917,-0.41471399739144627,0.0],"actuator_force":[1.836378032749053e-06,-19.807833894915802,-20.288564285226585,-2.413349830803668,0.0006237317404611531,-2.8333374757494312e-08,-0.29336109074022126],"issued_joint_targets_rad":[-1.9855103241154888,-1.5821556844098483,1.3167354162266927,-1.3053760636130984,-1.5707963262721012,-0.4147139973336667],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.499999999997957,"joint_targets_rad":[-1.9855103241154888,-1.5821556844098483,1.3167354162266927,-1.3053760636130984,-1.5707963262721012,-0.4147139973336667],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.519999999997946,"qpos":[-1.985510336722377,-1.582155946322703,1.3167362983924167,-1.3053768422258387,-1.5707963213311182,-0.41471400246436585,0.00293361078827243,0.0001563016037854978,0.003193479032229457,-0.0034292985280576986,0.002933610665049537,0.000156301080224787,0.003197849148823057,-0.0034379964665009668,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.2391986943457305e-16,-7.270156554082905e-17,-1.8579031588729947e-07],"qvel":[5.887398571084772e-08,1.3071321972274997e-06,-4.4661576701575995e-06,3.917443070635133e-06,-2.4756566870728643e-08,2.5913374342358295e-08,2.0264694897784073e-09,5.313380860565161e-11,1.906468691374135e-09,-2.0490453680226606e-09,2.005687082104783e-09,-2.695581338894937e-11,1.468832863791103e-09,-2.1506233473230094e-09,1.1364037533895577e-16,-2.0060793928167016e-16,6.791256296722428e-15,-2.785049915538501e-15,8.525950802643378e-16,-5.105603793517857e-08],"joint_position_rad":[-1.985510336722377,-1.582155946322703,1.3167362983924167,-1.3053768422258387,-1.5707963213311182,-0.41471400246436585],"joint_velocity_rad_s":[5.887398571084772e-08,1.3071321972274997e-06,-4.4661576701575995e-06,3.917443070635133e-06,-2.4756566870728643e-08,2.5913374342358295e-08],"linkage_position_rad":[0.00293361078827243,0.0001563016037854978,0.003193479032229457,-0.0034292985280576986,0.002933610665049537,0.000156301080224787,0.003197849148823057,-0.0034379964665009668],"tcp_position_m":[0.06812348821101291,0.4873046117430359,0.43499977913330673],"tcp_quaternion_wxyz":[-3.213540289503684e-08,0.7071067838251541,0.7071067785479352,7.514320885556871e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.2391986943457305e-16,-7.270156554082905e-17,-1.8579031588729947e-07],"object_linear_velocity_m_s":[1.1364037533895577e-16,-2.0060793928167016e-16,6.791256296722428e-15],"object_angular_velocity_rad_s":[-2.785049591306788e-15,8.525961024811707e-16,-5.105603793517863e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513223678518,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510324115488,-1.5920596023323728,1.3065911220176962,-1.3102027578435071,-1.5707950788217415,-0.4147139973334575,0.0],"actuator_force":[1.6641838556097355e-06,-19.807834872218336,-20.28856628637277,-2.413349553141302,0.0006237303450689069,-2.5883224452627474e-08,-0.2933610928268812],"issued_joint_targets_rad":[-1.9855103240640657,-1.582155683936696,1.3167354154302886,-1.3053760628161086,-1.5707963263213098,-0.41471399728111175],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.519999999997946,"joint_targets_rad":[-1.9855103240640657,-1.582155683936696,1.3167354154302886,-1.3053760628161086,-1.5707963263213098,-0.41471399728111175],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.539999999997935,"qpos":[-1.9855103355943708,-1.5821559214599301,1.3167362135732328,-1.3053767677931825,-1.57079632180576,-0.4147140019678004,0.002933610826879978,0.00015630160489067864,0.0031934790683265475,-0.003429298567293551,0.002933610703194862,0.00015630107961535773,0.0031978491757468043,-0.0034379965077425147,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.23253837514354e-16,-5.2269830739304493e-17,-1.8613157370050975e-07],"qvel":[5.388129280185909e-08,1.1855370244323391e-06,-4.040729784255654e-06,3.5469869173277365e-06,-2.262458694016371e-08,2.3670826662426694e-08,1.8301693740949289e-09,4.802757311793883e-11,1.7217073065590036e-09,-1.8505507174151184e-09,1.8113727732875622e-09,-2.443541823321698e-11,1.325546626236477e-09,-1.9426001108339914e-09,9.239936610188542e-17,-2.90851789354643e-16,6.932809732362136e-15,-9.21554115576803e-15,5.384455176756075e-16,-9.321543201428837e-08],"joint_position_rad":[-1.9855103355943708,-1.5821559214599301,1.3167362135732328,-1.3053767677931825,-1.57079632180576,-0.4147140019678004],"joint_velocity_rad_s":[5.388129280185909e-08,1.1855370244323391e-06,-4.040729784255654e-06,3.5469869173277365e-06,-2.262458694016371e-08,2.3670826662426694e-08],"linkage_position_rad":[0.002933610826879978,0.00015630160489067864,0.0031934790683265475,-0.003429298567293551,0.002933610703194862,0.00015630107961535773,0.0031978491757468043,-0.0034379965077425147],"tcp_position_m":[0.06812348805362468,0.48730461240962947,0.43499980048561204],"tcp_quaternion_wxyz":[-2.9292167738105234e-08,0.7071067836019068,0.7071067787711841,6.848267170448342e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.23253837514354e-16,-5.2269830739304493e-17,-1.8613157370050975e-07],"object_linear_velocity_m_s":[9.239936610188542e-17,-2.90851789354643e-16,6.932809732362136e-15],"object_angular_velocity_rad_s":[-9.215540945579274e-15,5.384489253036052e-16,-9.321543201428849e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513223461846,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103240640648,-1.5920596022294229,1.3065911213797503,-1.3102027569983037,-1.5707950788725302,-0.414713997280921,0.0],"actuator_force":[1.5080950106494129e-06,-19.80783575379519,-20.288568095051232,-2.4133493012523104,0.000623729073481627,-2.364296847190417e-08,-0.2933610947114527],"issued_joint_targets_rad":[-1.9855103240174867,-1.5821556835083668,1.3167354147093666,-1.3053760620946484,-1.5707963263658868,-0.4147139972334987],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.539999999997935,"joint_targets_rad":[-1.9855103240174867,-1.5821556835083668,1.3167354147093666,-1.3053760620946484,-1.5707963263658868,-0.4147139972334987],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.559999999997924,"qpos":[-1.985510334562117,-1.5821558989102016,1.3167361368334964,-1.305376700399354,-1.570796322239489,-0.41471400151424365,0.002933610861748202,0.0001563016058898966,0.003193479100925133,-0.0034292986027288515,0.0029336107376449626,0.00015630107906298358,0.0031978492000415497,-0.0034379965449946003,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.175762791411177e-16,-3.623771312206073e-17,-1.864851620380426e-07],"qvel":[4.9306631259295815e-08,1.0752373047755263e-06,-3.6558322983955753e-06,3.211559908348836e-06,-2.0674457817203117e-08,2.1620541939415246e-08,1.6528964893823951e-09,4.341498291775478e-11,1.5549547084547966e-09,-1.671122670416612e-09,1.6358948110519313e-09,-2.214439393876691e-11,1.196281065770572e-09,-1.7546779810715081e-09,4.618130650230389e-17,-1.4292023378163263e-16,7.017464237989806e-15,4.508598865732835e-15,1.8734950550996003e-15,-1.0099128701967837e-08],"joint_position_rad":[-1.985510334562117,-1.5821558989102016,1.3167361368334964,-1.305376700399354,-1.570796322239489,-0.41471400151424365],"joint_velocity_rad_s":[4.9306631259295815e-08,1.0752373047755263e-06,-3.6558322983955753e-06,3.211559908348836e-06,-2.0674457817203117e-08,2.1620541939415246e-08],"linkage_position_rad":[0.002933610861748202,0.0001563016058898966,0.003193479100925133,-0.0034292986027288515,0.0029336107376449626,0.00015630107906298358,0.0031978492000415497,-0.0034379965449946003],"tcp_position_m":[0.06812348790730856,0.48730461301483613,0.4349998197727173],"tcp_quaternion_wxyz":[-2.6698469672955768e-08,0.7071067833973068,0.7071067789757846,6.240772471611693e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.175762791411177e-16,-3.623771312206073e-17,-1.864851620380426e-07],"object_linear_velocity_m_s":[4.618130650230389e-17,-1.4292023378163263e-16,7.017464237989806e-15],"object_angular_velocity_rad_s":[4.508599565222524e-15,1.8734933711510567e-15,-1.0099128701967852e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513223266351,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510324017486,-1.5920596021372542,1.3065911208021463,-1.3102027562328673,-1.570795078918551,-0.4147139972333249,0.0],"actuator_force":[1.3666090126207564e-06,-19.807836549026888,-20.288569729780647,-2.4133490727475646,0.0006237279147853769,-2.1594814825220965e-08,-0.29336109641361474],"issued_joint_targets_rad":[-1.9855103239752967,-1.5821556831206143,1.3167354140567704,-1.3053760614415584,-1.5707963264062685,-0.4147139971903633],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.559999999997924,"joint_targets_rad":[-1.9855103239752967,-1.5821556831206143,1.3167354140567704,-1.3053760614415584,-1.5707963264062685,-0.4147139971903633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.579999999997913,"qpos":[-1.985510333617588,-1.5821558784586298,1.3167360674034898,-1.3053766393787793,-1.5707963226358002,-0.4147140011000048,0.002933610893239449,0.00015630160679324685,0.003193479130365241,-0.0034292986347303762,0.0029336107687579845,0.00015630107856240053,0.003197849221964666,-0.00343799657864176,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.0614128450343072e-16,-4.300743830339779e-17,-1.8693765391637068e-07],"qvel":[4.511555184063254e-08,9.751853777680905e-07,-3.3076033279076257e-06,2.9078501378384267e-06,-1.8890850462587204e-08,1.974622413943697e-08,1.4928059498936185e-09,3.9261628781599786e-11,1.4042677501149182e-09,-1.5091356181382404e-09,1.477426651464434e-09,-2.0083686756751846e-11,1.0795988763693581e-09,-1.58483061111633e-09,5.572358889670735e-17,-1.3339251344857943e-16,7.052158707509345e-15,3.666408184743753e-15,9.443102213226495e-16,-1.8438458662166094e-08],"joint_position_rad":[-1.985510333617588,-1.5821558784586298,1.3167360674034898,-1.3053766393787793,-1.5707963226358002,-0.4147140011000048],"joint_velocity_rad_s":[4.511555184063254e-08,9.751853777680905e-07,-3.3076033279076257e-06,2.9078501378384267e-06,-1.8890850462587204e-08,1.974622413943697e-08],"linkage_position_rad":[0.002933610893239449,0.00015630160679324685,0.003193479130365241,-0.0034292986347303762,0.0029336107687579845,0.00015630107856240053,0.003197849221964666,-0.00343799657864176],"tcp_position_m":[0.06812348777136527,0.48730461356428084,0.43499983719446306],"tcp_quaternion_wxyz":[-2.4332621013971886e-08,0.7071067832098212,0.7071067791632704,5.686739004495707e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.0614128450343072e-16,-4.300743830339779e-17,-1.8693765391637068e-07],"object_linear_velocity_m_s":[5.572358889670735e-17,-1.3339251344857943e-16,7.052158707509345e-15],"object_angular_velocity_rad_s":[3.666408539383758e-15,9.443088466289325e-16,-1.8438458662166124e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513223089948,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103239752963,-1.592059602054742,1.3065911202791751,-1.31020275553967,-1.570795078960252,-0.4147139971902049,0.0],"actuator_force":[1.2383629837131593e-06,-19.807837266375373,-20.288571207298446,-2.41334886545917,0.0006237268590894018,-1.972247787307424e-08,-0.29336109795103466],"issued_joint_targets_rad":[-1.9855103239370815,-1.582155682769594,1.316735413466025,-1.3053760608503602,-1.5707963264428497,-0.4147139971512833],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.579999999997913,"joint_targets_rad":[-1.9855103239370815,-1.582155682769594,1.316735413466025,-1.3053760608503602,-1.5707963264428497,-0.4147139971512833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.599999999997902,"qpos":[-1.9855103327534207,-1.5821558599102596,1.3167360045868333,-1.305376584128814,-1.570796322997892,-0.41471400072170567,0.002933610921680873,0.0001563016076099431,0.003193479156952339,-0.0034292986636329163,0.0029336107968572635,0.00015630107810866257,0.003197849241746904,-0.0034379966090369724,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.1606585455617498e-16,-3.9927556833357067e-17,-1.8738401269632956e-07],"qvel":[4.127639110149881e-08,8.844305839466537e-07,-2.9925489965680296e-06,2.632858784372021e-06,-1.7259704018720486e-08,1.803294360116401e-08,1.3482241617943845e-09,3.548658301219164e-11,1.2681689949593608e-09,-1.3630881828425361e-09,1.3343142858498502e-09,-1.820068987473481e-11,9.742428280046258e-10,-1.4317717252621075e-09,5.5238466180629197e-17,-1.6371070647097e-16,7.117384310206072e-15,5.295800281284267e-16,6.961481545736598e-16,-3.366396922639076e-08],"joint_position_rad":[-1.9855103327534207,-1.5821558599102596,1.3167360045868333,-1.305376584128814,-1.570796322997892,-0.41471400072170567],"joint_velocity_rad_s":[4.127639110149881e-08,8.844305839466537e-07,-2.9925489965680296e-06,2.632858784372021e-06,-1.7259704018720486e-08,1.803294360116401e-08],"linkage_position_rad":[0.002933610921680873,0.0001563016076099431,0.003193479156952339,-0.0034292986636329163,0.0029336107968572635,0.00015630107810866257,0.003197849241746904,-0.0034379966090369724],"tcp_position_m":[0.06812348764513078,0.48730461406307746,0.43499985293134336],"tcp_quaternion_wxyz":[-2.2174797610878457e-08,0.7071067830380411,0.7071067793350514,5.181507449070663e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.1606585455617498e-16,-3.9927556833357067e-17,-1.8738401269632956e-07],"object_linear_velocity_m_s":[5.5238466180629197e-17,-1.6371070647097e-16,7.117384310206072e-15],"object_angular_velocity_rad_s":[5.295802917106984e-16,6.961479482894756e-16,-3.366396922639082e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222930822,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323937081,-1.5920596019808788,1.30659111980567,-1.3102027549118964,-1.5707950789980385,-0.414713997151139,0.0],"actuator_force":[1.1221227396163158e-06,-19.807837913472213,-20.288572542727707,-2.413348677419549,0.0006237258971850679,-1.8011036218013032e-08,-0.29336109933959903],"issued_joint_targets_rad":[-1.9855103239024665,-1.5821556824518275,1.316735412931269,-1.305376060315188,-1.5707963264759879,-0.4147139971158782],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.599999999997902,"joint_targets_rad":[-1.9855103239024665,-1.5821556824518275,1.316735412931269,-1.305376060315188,-1.5707963264759879,-0.4147139971158782],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.61999999999789,"qpos":[-1.9855103319628575,-1.5821558430882225,1.3167359477535023,-1.305376534103793,-1.5707963233286923,-0.41471400037625555,0.0029336109473190753,0.00015630160833365292,0.0031934791810154135,-0.0034292986896761377,0.002933610822274887,0.00015630107778134416,0.0031978492592606494,-0.0034379966364740913,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.2220729166751747e-16,-4.4354518041110253e-17,-1.877448397672651e-07],"qvel":[3.7760042209884046e-08,8.021102928131135e-07,-2.7075083930485246e-06,2.3838705369084166e-06,-1.5768149593560906e-08,1.6467012119979158e-08,1.2236917147246703e-09,3.409406102720715e-11,1.1383185013655765e-09,-1.2380561613308476e-09,1.1996744836023248e-09,-2.9476297361323154e-11,9.220037634838269e-10,-1.289409044142019e-09,9.688778397599143e-17,-2.338719959555064e-16,7.183997691683584e-15,-5.380228773058277e-15,-3.1378636254850735e-15,-6.14619065963835e-08],"joint_position_rad":[-1.9855103319628575,-1.5821558430882225,1.3167359477535023,-1.305376534103793,-1.5707963233286923,-0.41471400037625555],"joint_velocity_rad_s":[3.7760042209884046e-08,8.021102928131135e-07,-2.7075083930485246e-06,2.3838705369084166e-06,-1.5768149593560906e-08,1.6467012119979158e-08],"linkage_position_rad":[0.0029336109473190753,0.00015630160833365292,0.0031934791810154135,-0.0034292986896761377,0.002933610822274887,0.00015630107778134416,0.0031978492592606494,-0.0034379966364740913],"tcp_position_m":[0.06812348752797305,0.48730461451587165,0.43499986714637895],"tcp_quaternion_wxyz":[-2.0206879108968398e-08,0.7071067828806702,0.7071067794924227,4.720819516458205e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.2220729166751747e-16,-4.4354518041110253e-17,-1.877448397672651e-07],"object_linear_velocity_m_s":[9.688778397599143e-17,-2.338719959555064e-16,7.183997691683584e-15],"object_angular_velocity_rad_s":[-5.380229945841092e-15,-3.1378616202866683e-15,-6.146190659638362e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222789228,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323902466,-1.5920596019147633,1.3065911193769537,-1.3102027543433725,-1.5707950790322778,-0.4147139971157467,0.0],"actuator_force":[1.016765963868238e-06,-19.807838497198645,-20.288573749740408,-2.4133485068434766,0.0006237250222511648,-1.6446762174382457e-08,-0.2933611005965291],"issued_joint_targets_rad":[-1.985510323871113,-1.5821556821641642,1.3167354124471953,-1.3053760598307336,-1.570796326506007,-0.4147139970838026],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.61999999999789,"joint_targets_rad":[-1.985510323871113,-1.5821556821641642,1.3167354124471953,-1.3053760598307336,-1.570796326506007,-0.4147139970838026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.63999999999788,"qpos":[-1.9855103312397044,-1.5821558278320647,1.3167358963334983,-1.305376488809644,-1.5707963236308813,-0.41471400006082654,0.0029336109705242305,0.00015630160900337905,0.003193479202699948,-0.003429298713255589,0.002933610845189708,0.00015630107739935076,0.003197849275386882,-0.0034379966612751237,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999833,-1.178866385124331e-16,-4.755524459917129e-17,-1.8803075693226393e-07],"qvel":[3.453976451534307e-08,7.274418125666452e-07,-2.449621823616351e-06,2.1584267937702105e-06,-1.4404346032119199e-08,1.503589119656295e-08,1.1053662366476575e-09,3.0777371601899224e-11,1.027512314502253e-09,-1.1184617607977624e-09,1.0834365297839979e-09,-2.6369353044853578e-11,8.345285386248045e-10,-1.1654409273024632e-09,1.9034492928069158e-16,-4.3726064941641684e-16,7.292244436584536e-15,-2.0417457458650884e-14,-9.730461591864379e-15,-1.1221392038052941e-07],"joint_position_rad":[-1.9855103312397044,-1.5821558278320647,1.3167358963334983,-1.305376488809644,-1.5707963236308813,-0.41471400006082654],"joint_velocity_rad_s":[3.453976451534307e-08,7.274418125666452e-07,-2.449621823616351e-06,2.1584267937702105e-06,-1.4404346032119199e-08,1.503589119656295e-08],"linkage_position_rad":[0.0029336109705242305,0.00015630160900337905,0.003193479202699948,-0.003429298713255589,0.002933610845189708,0.00015630107739935076,0.003197849275386882,-0.0034379966612751237],"tcp_position_m":[0.06812348741929647,0.48730461492688626,0.43499987998681133],"tcp_quaternion_wxyz":[-1.8412306226748147e-08,0.707106782736518,0.7071067796365748,4.3007844426733174e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999833,-1.178866385124331e-16,-4.755524459917129e-17,-1.8803075693226393e-07],"object_linear_velocity_m_s":[1.9034492928069158e-16,-4.3726064941641684e-16,7.292244436584536e-15],"object_angular_velocity_rad_s":[-2.0417461107228884e-14,-9.730453940100796e-15,-1.1221392038052963e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222659554,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103238711127,-1.592059601855586,1.306591118988789,-1.3102027538285086,-1.570795079063303,-0.4147139970836828,0.0],"actuator_force":[9.212776603817474e-07,-19.80783902376743,-20.288574840688852,-2.4133483521117114,0.0006237242238285035,-1.5017235455161426e-08,-0.2933611017297107],"issued_joint_targets_rad":[-1.9855103238427134,-1.5821556819037519,1.3167354120090011,-1.3053760593921915,-1.5707963265332008,-0.41471399705474304],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.63999999999788,"joint_targets_rad":[-1.9855103238427134,-1.5821556819037519,1.3167354120090011,-1.3053760593921915,-1.5707963265332008,-0.41471399705474304],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.659999999997869,"qpos":[-1.985510330578277,-1.58215581399622,1.316735849811134,-1.305376447799009,-1.5707963239069114,-0.4147139997728319,0.002933610991093176,0.0001563016092869641,0.0031934792227053233,-0.003429298734315497,0.0029336108662221124,0.00015630107835475687,0.003197849287590644,-0.0034379966833214173,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-1.5050403384884853e-16,-6.549958010063528e-17,-1.8845641106160697e-07],"qvel":[3.1591006549979045e-08,6.597148864057044e-07,-2.2163021199766146e-06,1.9543013567147217e-06,-1.3157533962803903e-08,1.3728098667563651e-08,1.0399567418693301e-09,7.326916254066654e-11,8.751480069301143e-10,-1.0449329777608217e-09,9.39041117974447e-10,-2.1750198532965851e-10,1.0298614434849525e-09,-1.02094556190961e-09,7.820419208267832e-17,-1.8290547496534477e-16,6.4581893893348895e-15,4.822568554740144e-15,1.786490047018554e-15,-1.2157459334647913e-08],"joint_position_rad":[-1.985510330578277,-1.58215581399622,1.316735849811134,-1.305376447799009,-1.5707963239069114,-0.4147139997728319],"joint_velocity_rad_s":[3.1591006549979045e-08,6.597148864057044e-07,-2.2163021199766146e-06,1.9543013567147217e-06,-1.3157533962803903e-08,1.3728098667563651e-08],"linkage_position_rad":[0.002933610991093176,0.0001563016092869641,0.0031934792227053233,-0.003429298734315497,0.0029336108662221124,0.00015630107835475687,0.003197849287590644,-0.0034379966833214173],"tcp_position_m":[0.06812348731853547,0.48730461529995905,0.43499989158562613],"tcp_quaternion_wxyz":[-1.677594648462249e-08,0.7071067826044898,0.7071067797686036,3.917847127030806e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-1.5050403384884853e-16,-6.549958010063528e-17,-1.8845641106160697e-07],"object_linear_velocity_m_s":[7.820419208267832e-17,-1.8290547496534477e-16,6.4581893893348895e-15],"object_angular_velocity_rad_s":[4.822569229683423e-15,1.7864882256710093e-15,-1.2157459334647913e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222555757,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103238427132,-1.5920596018026216,1.3065911186373418,-1.3102027533622418,-1.5707950790914156,-0.4147139970546339,0.0],"actuator_force":[8.347251423401758e-07,-19.807839498758312,-20.288575826736178,-2.413348211752009,0.0006237235012349629,-1.3710860002902336e-08,-0.2933611027607537],"issued_joint_targets_rad":[-1.9855103238169893,-1.5821556816680091,1.3167354116123369,-1.3053760589952077,-1.570796326557835,-0.414713997028416],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.659999999997869,"joint_targets_rad":[-1.9855103238169893,-1.5821556816680091,1.3167354116123369,-1.3053760589952077,-1.570796326557835,-0.414713997028416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.679999999997857,"qpos":[-1.9855103299733698,-1.5821558014486363,1.316735807719853,-1.3053764106668324,-1.5707963241590353,-0.41471399950990506,0.0029336110086695707,0.00015630160571394812,0.003193479244856233,-0.003429298753001097,0.002933610886487823,0.00015630108712857561,0.0031978492921198097,-0.0034379967040926614,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-1.4137689752141778e-16,-7.839439060821387e-17,-1.889393463947273e-07],"qvel":[2.8891228099299658e-08,5.982853851273784e-07,-2.0052087101229717e-06,1.7694791646282655e-06,-1.2016060536304554e-08,1.2533117399250506e-08,6.396166842839069e-10,-4.4333206202235535e-10,1.2474296080417746e-09,-8.36710920590446e-10,1.078943013941917e-09,9.818937510809716e-10,-2.629389472223462e-10,-8.659320944424299e-10,9.852533241296595e-17,-1.8101553865522223e-16,6.374922662488002e-15,4.372301514569103e-15,1.6326819955332964e-15,-2.2196450604215554e-08],"joint_position_rad":[-1.9855103299733698,-1.5821558014486363,1.316735807719853,-1.3053764106668324,-1.5707963241590353,-0.41471399950990506],"joint_velocity_rad_s":[2.8891228099299658e-08,5.982853851273784e-07,-2.0052087101229717e-06,1.7694791646282655e-06,-1.2016060536304554e-08,1.2533117399250506e-08],"linkage_position_rad":[0.0029336110086695707,0.00015630160571394812,0.003193479244856233,-0.003429298753001097,0.002933610886487823,0.00015630108712857561,0.0031978492921198097,-0.0034379967040926614],"tcp_position_m":[0.0681234872251612,0.48730461563857574,0.4349999020629398],"tcp_quaternion_wxyz":[-1.5283971294233875e-08,0.7071067824835817,0.7071067798895119,3.568760390136311e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-1.4137689752141778e-16,-7.839439060821387e-17,-1.889393463947273e-07],"object_linear_velocity_m_s":[9.852533241296595e-17,-1.8101553865522223e-16,6.374922662488002e-15],"object_angular_velocity_rad_s":[4.372302135004683e-15,1.632680337057468e-15,-2.2196450604215558e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222482958,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323816989,-1.5920596017552215,1.3065911183191374,-1.3102027529399833,-1.570795079116889,-0.41471399702831657,0.0],"actuator_force":[7.562703103758395e-07,-19.807839927324494,-20.288576717947308,-2.413348084491872,0.0006237226792791262,-1.2517489267338533e-08,-0.2933611033506681],"issued_joint_targets_rad":[-1.9855103237936893,-1.5821556814545985,1.3167354112532663,-1.3053760586358465,-1.5707963265801506,-0.4147139970045655],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.679999999997857,"joint_targets_rad":[-1.9855103237936893,-1.5821556814545985,1.3167354112532663,-1.3053760586358465,-1.5707963265801506,-0.4147139970045655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.699999999997846,"qpos":[-1.9855103294202014,-1.582155790069522,1.3167357696375501,-1.3053763770463516,-1.5707963243892982,-0.41471399926988195,0.002933611021941906,0.00015630159673965703,0.0031934792700790255,-0.0034292987707293236,0.0029336109072121107,0.00015630110171361826,0.003197849288851683,-0.003437996719885312,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-1.1866372498741107e-16,-8.467620214499358e-17,-1.8935405955887593e-07],"qvel":[2.6418758331326558e-08,5.42568283969238e-07,-1.8142237939857568e-06,1.6021329795894267e-06,-1.097684713430534e-08,1.1441302089558732e-08,2.7215130591153836e-10,-1.6973531910836536e-09,2.419268910152598e-09,-7.389723964887188e-10,1.3530003249342427e-09,2.7111068707567185e-09,-1.96182107122623e-09,-8.53089772637079e-10,1.2824831113222656e-16,-1.7276521284905813e-16,6.376310441268782e-15,2.053780427568339e-15,-4.518043151174707e-16,-4.0525113501413104e-08],"joint_position_rad":[-1.9855103294202014,-1.582155790069522,1.3167357696375501,-1.3053763770463516,-1.5707963243892982,-0.41471399926988195],"joint_velocity_rad_s":[2.6418758331326558e-08,5.42568283969238e-07,-1.8142237939857568e-06,1.6021329795894267e-06,-1.097684713430534e-08,1.1441302089558732e-08],"linkage_position_rad":[0.002933611021941906,0.00015630159673965703,0.0031934792700790255,-0.0034292987707293236,0.0029336109072121107,0.00015630110171361826,0.003197849288851683,-0.003437996719885312],"tcp_position_m":[0.06812348713866698,0.4873046159459049,0.43499991152724343],"tcp_quaternion_wxyz":[-1.392375394551041e-08,0.7071067823728681,0.7071067800002255,3.2505576736857364e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-1.1866372498741107e-16,-8.467620214499358e-17,-1.8935405955887593e-07],"object_linear_velocity_m_s":[1.2824831113222656e-16,-1.7276521284905813e-16,6.376310441268782e-15],"object_angular_velocity_rad_s":[2.0537802633292533e-15,-4.518051025184844e-16,-4.052511350141311e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222426746,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323793689,-1.592059601712803,1.306591118031032,-1.3102027525575828,-1.5707950791399705,-0.4147139970044749,0.0],"actuator_force":[6.855211722722743e-07,-19.80784031387566,-20.288577523519052,-2.413347968913513,0.0006237223485641152,-1.1426720902818488e-08,-0.293361104583459],"issued_joint_targets_rad":[-1.9855103237725844,-1.5821556812614053,1.316735410928228,-1.305376058310542,-1.570796326600366,-0.41471399698295736],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.699999999997846,"joint_targets_rad":[-1.9855103237725844,-1.5821556812614053,1.316735410928228,-1.305376058310542,-1.570796326600366,-0.41471399698295736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.719999999997835,"qpos":[-1.9855103289143958,-1.5821557797502073,1.3167357351823379,-1.3053763466054868,-1.570796324599582,-0.41471399905078327,0.0029336110326231486,0.00015630158480811057,0.0031934792982989094,-0.0034292987879211362,0.002933610927124,0.00015630111519891385,0.003197849283388447,-0.003437996733347433,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-1.1248055265703258e-16,-7.643432952893791e-17,-1.8972777255734195e-07],"qvel":[2.4152725167906828e-08,4.920332143629467e-07,-1.64143142876604e-06,1.4506056487049892e-06,-1.0043362435501858e-08,1.0443827052328958e-08,-6.099876245914707e-10,-6.954766817355397e-09,7.622132687044813e-09,-3.332217393553276e-10,2.393792872738055e-09,9.152540391492583e-09,-7.843743481724281e-09,-1.384484813077815e-09,1.3313165177422546e-16,-2.3936893814224467e-16,6.519251655689271e-15,-6.0655004194619105e-15,-1.0950872145142125e-15,-7.398862338785448e-08],"joint_position_rad":[-1.9855103289143958,-1.5821557797502073,1.3167357351823379,-1.3053763466054868,-1.570796324599582,-0.41471399905078327],"joint_velocity_rad_s":[2.4152725167906828e-08,4.920332143629467e-07,-1.64143142876604e-06,1.4506056487049892e-06,-1.0043362435501858e-08,1.0443827052328958e-08],"linkage_position_rad":[0.0029336110326231486,0.00015630158480811057,0.0031934792982989094,-0.0034292987879211362,0.002933610927124,0.00015630111519891385,0.003197849283388447,-0.003437996733347433],"tcp_position_m":[0.06812348705858194,0.4873046162248242,0.43499992007652544],"tcp_quaternion_wxyz":[-1.2683756056797764e-08,0.7071067822715018,0.7071067801015918,2.9605298515006794e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-1.1248055265703258e-16,-7.643432952893791e-17,-1.8972777255734195e-07],"object_linear_velocity_m_s":[1.3313165177422546e-16,-2.3936893814224467e-16,6.519251655689271e-15],"object_angular_velocity_rad_s":[-6.065500823687854e-15,-1.0950849295709306e-15,-7.39886233878545e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513222354099,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103237725842,-1.592059601674846,1.30659111777018,-1.3102027522112782,-1.5707950791608856,-0.41471399698287487,0.0],"actuator_force":[6.225332072062884e-07,-19.807840662563194,-20.288578251744184,-2.413347863460558,0.0006237236844981453,-1.0428493624203838e-08,-0.2933611069063837],"issued_joint_targets_rad":[-1.9855103237534684,-1.5821556810865143,1.3167354106339968,-1.3053760580160665,-1.570796326618678,-0.4147139969633815],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.719999999997835,"joint_targets_rad":[-1.9855103237534684,-1.5821556810865143,1.3167354106339968,-1.3053760580160665,-1.570796326618678,-0.4147139969633815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.739999999997824,"qpos":[-1.9855103284519366,-1.582155770392115,1.3167357040087113,-1.3053763190435483,-1.5707963247915842,-0.4147139988507993,0.002933611045364722,0.00015630158420521488,0.0031934793144593743,-0.0034292988043063237,0.0029336109418464963,0.00015630111034771718,0.003197849295777965,-0.003437996746946171,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-9.944396938139907e-17,-5.933187856703603e-17,-1.9000842902993177e-07],"qvel":[2.2087578430514723e-08,4.4619877638225233e-07,-1.4850990274319234e-06,1.3134225956450195e-06,-9.149544214530087e-09,9.532669047782585e-09,1.311473498286313e-09,2.5758932661029517e-09,-1.793642676399853e-09,-9.577643030935578e-10,-1.6313571109379494e-11,-3.3239266278023885e-09,3.629627704926989e-09,-5.112750330762723e-10,7.367332017321342e-17,-1.2251681597814956e-16,6.595579488632253e-15,4.402711351513139e-15,2.768806872863624e-15,-8.016061438848619e-09],"joint_position_rad":[-1.9855103284519366,-1.582155770392115,1.3167357040087113,-1.3053763190435483,-1.5707963247915842,-0.4147139988507993],"joint_velocity_rad_s":[2.2087578430514723e-08,4.4619877638225233e-07,-1.4850990274319234e-06,1.3134225956450195e-06,-9.149544214530087e-09,9.532669047782585e-09],"linkage_position_rad":[0.002933611045364722,0.00015630158420521488,0.0031934793144593743,-0.0034292988043063237,0.0029336109418464963,0.00015630111034771718,0.003197849295777965,-0.003437996746946171],"tcp_position_m":[0.06812348698445429,0.48730461647794904,0.4349999277992923],"tcp_quaternion_wxyz":[-1.1553448573089068e-08,0.707106782178703,0.707106780194391,2.696202165350204e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-9.944396938139907e-17,-5.933187856703603e-17,-1.9000842902993177e-07],"object_linear_velocity_m_s":[7.367332017321342e-17,-1.2251681597814956e-16,6.595579488632253e-15],"object_angular_velocity_rad_s":[4.402712404657328e-15,2.768805198164593e-15,-8.016061438848624e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322223319,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103237534684,-1.592059601640884,1.306591117534004,-1.310202751897663,-1.5707950791798364,-0.41471399696330635,0.0],"actuator_force":[5.619053808914032e-07,-19.807840977047817,-20.288578909804073,-2.4133477693169425,0.0006237208282300344,-9.52042000790243e-09,-0.2933611058363605],"issued_joint_targets_rad":[-1.985510323736153,-1.582155680928191,1.3167354103676505,-1.3053760577494986,-1.5707963266352665,-0.4147139969456463],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.739999999997824,"joint_targets_rad":[-1.985510323736153,-1.582155680928191,1.3167354103676505,-1.3053760577494986,-1.5707963266352665,-0.4147139969456463],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.759999999997813,"qpos":[-1.9855103280291588,-1.5821557619058226,1.316735675804081,-1.3053762940883065,-1.570796324966929,-0.41471399866827524,0.00293361105878152,0.00015630158028630148,0.0031934793308910237,-0.003429298816781926,0.0029336109535554396,0.00015630110731076552,0.0031978493091095682,-0.0034379967633481256,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-6.260878261219799e-17,-5.789852748400701e-17,-1.904639846258608e-07],"qvel":[2.0192176770931298e-08,4.046288419615076e-07,-1.3436579726229302e-06,1.189205080850291e-06,-8.352863335505996e-09,8.700381124285248e-09,7.661267118223429e-10,1.2418436263002672e-09,-5.635982672134773e-10,-8.016298701842249e-10,4.531891250053031e-10,-1.3835856173347805e-09,1.803055380225115e-09,-5.691188041888313e-10,7.393393057950278e-17,-8.311806820894812e-17,6.626110621809448e-15,3.600796348708576e-15,2.1631249452803784e-15,-1.4635303879709952e-08],"joint_position_rad":[-1.9855103280291588,-1.5821557619058226,1.316735675804081,-1.3053762940883065,-1.570796324966929,-0.41471399866827524],"joint_velocity_rad_s":[2.0192176770931298e-08,4.046288419615076e-07,-1.3436579726229302e-06,1.189205080850291e-06,-8.352863335505996e-09,8.700381124285248e-09],"linkage_position_rad":[0.00293361105878152,0.00015630158028630148,0.0031934793308910237,-0.003429298816781926,0.0029336109535554396,0.00015630110731076552,0.0031978493091095682,-0.0034379967633481256],"tcp_position_m":[0.06812348691588743,0.48730461670765346,0.4349999347754878],"tcp_quaternion_wxyz":[-1.0523188418972085e-08,0.7071067820937607,0.7071067802793336,2.4553175502574434e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-6.260878261219799e-17,-5.789852748400701e-17,-1.904639846258608e-07],"object_linear_velocity_m_s":[7.393393057950278e-17,-8.311806820894812e-17,6.626110621809448e-15],"object_angular_velocity_rad_s":[3.600797174397834e-15,2.163123571803585e-15,-1.4635303879709962e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322209877,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323736153,-1.5920596016104975,1.3065911173201674,-1.3102027516136525,-1.5707950791970087,-0.41471399694557787,0.0],"actuator_force":[5.091405910206959e-07,-19.807841260886562,-20.288579504638165,-2.4133476831810867,0.0006237202464944858,-8.689454489285708e-09,-0.2933611067134272],"issued_joint_targets_rad":[-1.9855103237204692,-1.5821556807848662,1.3167354101265476,-1.3053760575081927,-1.5707963266502938,-0.4147139969295794],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.759999999997813,"joint_targets_rad":[-1.9855103237204692,-1.5821556807848662,1.3167354101265476,-1.3053760575081927,-1.5707963266502938,-0.4147139969295794],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.779999999997802,"qpos":[-1.9855103276426835,-1.5821557542102167,1.3167356502856384,-1.3053762714932433,-1.5707963251270258,-0.41471399850169804,0.0029336110695016297,0.00015630157516374166,0.003193479347242515,-0.003429298829043897,0.002933610965367653,0.0001563011081298724,0.003197849316771178,-0.0034379967762645357,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-6.244590248943243e-17,-7.573316569584054e-17,-1.9091924761638337e-07],"qvel":[1.8455861506224257e-08,3.6692676836176475e-07,-1.2156901895791202e-06,1.076731042764107e-06,-7.632982035230559e-09,7.940201446012418e-09,-7.387857353505586e-11,-2.768086326666747e-09,3.3078609804796465e-09,-4.2798876416064155e-10,1.1356035225424677e-09,2.1766767587470365e-09,-1.5882391070933027e-09,-7.265442037746968e-10,1.0323836298411384e-16,-8.795148617938075e-17,6.7010506759716465e-15,9.805652531628263e-16,5.40626707289342e-16,-2.672036900982023e-08],"joint_position_rad":[-1.9855103276426835,-1.5821557542102167,1.3167356502856384,-1.3053762714932433,-1.5707963251270258,-0.41471399850169804],"joint_velocity_rad_s":[1.8455861506224257e-08,3.6692676836176475e-07,-1.2156901895791202e-06,1.076731042764107e-06,-7.632982035230559e-09,7.940201446012418e-09],"linkage_position_rad":[0.0029336110695016297,0.00015630157516374166,0.003193479347242515,-0.003429298829043897,0.002933610965367653,0.0001563011081298724,0.003197849316771178,-0.0034379967762645357],"tcp_position_m":[0.06812348685247713,0.48730461691609556,0.4349999410773162],"tcp_quaternion_wxyz":[-9.584199637310623e-09,0.7071067820160148,0.7071067803570796,2.2358125407386386e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-6.244590248943243e-17,-7.573316569584054e-17,-1.9091924761638337e-07],"object_linear_velocity_m_s":[1.0323836298411384e-16,-8.795148617938075e-17,6.7010506759716465e-15],"object_angular_velocity_rad_s":[9.805654636420798e-16,5.406263295345865e-16,-2.6720369009820254e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221996922,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103237204692,-1.5920596015833126,1.306591117126559,-1.3102027513564518,-1.5707950792125691,-0.41471399692951705,0.0],"actuator_force":[4.6208424464566633e-07,-19.807841516899316,-20.288580042083595,-2.413347604708406,0.0006237205265051671,-7.929656931082718e-09,-0.2933611070520889],"issued_joint_targets_rad":[-1.9855103237062637,-1.5821556806551198,1.3167354099082968,-1.3053760572897557,-1.5707963266639067,-0.414713996915023],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.779999999997802,"joint_targets_rad":[-1.9855103237062637,-1.5821556806551198,1.3167354099082968,-1.3053760572897557,-1.5707963266639067,-0.414713996915023],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.799999999997791,"qpos":[-1.9855103272894197,-1.5821557472317198,1.316735627197519,-1.3053762510351503,-1.5707963252731607,-0.4147139983496849,0.002933611080001418,0.00015630157928144626,0.0031934793546922547,-0.003429298841958566,0.0029336109756126897,0.00015630110239923627,0.0031978493289290194,-0.0034379967864159285,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-3.904160528003202e-17,-8.176288104513293e-17,-1.9135610721152586e-07],"qvel":[1.6871746157383095e-08,3.3273316946600174e-07,-1.0999102170516111e-06,9.74898449821438e-07,-6.9646856140838365e-09,7.245955568194819e-09,1.3665394971384158e-09,3.88800879830177e-09,-3.268484363933773e-09,-8.635155098986653e-10,-3.709128517878344e-10,-3.1619438852749612e-09,3.2704815185559513e-09,-2.1351068844205933e-10,1.2626708456715336e-16,-4.8384030345352105e-17,6.755174048422125e-15,2.6271088103663482e-15,-7.464237830271626e-16,-4.878464607836729e-08],"joint_position_rad":[-1.9855103272894197,-1.5821557472317198,1.316735627197519,-1.3053762510351503,-1.5707963252731607,-0.4147139983496849],"joint_velocity_rad_s":[1.6871746157383095e-08,3.3273316946600174e-07,-1.0999102170516111e-06,9.74898449821438e-07,-6.9646856140838365e-09,7.245955568194819e-09],"linkage_position_rad":[0.002933611080001418,0.00015630157928144626,0.0031934793546922547,-0.003429298841958566,0.0029336109756126897,0.00015630110239923627,0.0031978493289290194,-0.0034379967864159285],"tcp_position_m":[0.06812348679384746,0.4873046171052361,0.43499994676999576],"tcp_quaternion_wxyz":[-8.728471299995341e-09,0.707106781944862,0.7071067804282323,2.0358033900832473e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-3.904160528003202e-17,-8.176288104513293e-17,-1.9135610721152586e-07],"object_linear_velocity_m_s":[1.2626708456715336e-16,-4.8384030345352105e-17,6.755174048422125e-15],"object_angular_velocity_rad_s":[2.6271085326782053e-15,-7.464247922630024e-16,-4.8784646078367345e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221922572,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103237062637,-1.5920596015589943,1.3065911169512665,-1.310202751123531,-1.5707950792266683,-0.41471399691496624,0.0],"actuator_force":[4.1761313696042635e-07,-19.807841747816838,-20.28858052841815,-2.4133475340353243,0.0006237197146674589,-7.236224064399721e-09,-0.2933611077588386],"issued_joint_targets_rad":[-1.9855103236933962,-1.5821556805376649,1.3167354097107313,-1.3053760570920208,-1.570796326676238,-0.4147139969018359],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.799999999997791,"joint_targets_rad":[-1.9855103236933962,-1.5821556805376649,1.3167354097107313,-1.3053760570920208,-1.570796326676238,-0.4147139969018359],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.81999999999778,"qpos":[-1.9855103269665535,-1.5821557409035913,1.3167356063082285,-1.3053762325119573,-1.5707963254065904,-0.4147139982109717,0.0029336110885595755,0.00015630157680556863,0.0031934793673187543,-0.003429298851019768,0.0029336109854937757,0.00015630110388757478,0.0031978493326195205,-0.003437996797152581,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-1.8391149705661228e-17,-9.059700360359532e-17,-1.9168218307467994e-07],"qvel":[1.5420382628570535e-08,3.017221353847265e-07,-9.951591065806944e-07,8.826944666073817e-07,-6.3568802074137495e-09,6.61196840920675e-09,1.2364290805261256e-09,3.825662159901234e-09,-3.358733595036416e-09,-8.443631938697758e-10,-3.210551762153276e-10,-3.042818405500207e-09,3.2585954846873617e-09,-1.2003840779302948e-10,2.75353416736957e-16,-2.0947237409559462e-17,6.119571366824224e-15,1.5847949284355555e-15,-1.3696913715239925e-14,-8.906844408157442e-08],"joint_position_rad":[-1.9855103269665535,-1.5821557409035913,1.3167356063082285,-1.3053762325119573,-1.5707963254065904,-0.4147139982109717],"joint_velocity_rad_s":[1.5420382628570535e-08,3.017221353847265e-07,-9.951591065806944e-07,8.826944666073817e-07,-6.3568802074137495e-09,6.61196840920675e-09],"linkage_position_rad":[0.0029336110885595755,0.00015630157680556863,0.0031934793673187543,-0.003429298851019768,0.0029336109854937757,0.00015630110388757478,0.0031978493326195205,-0.003437996797152581],"tcp_position_m":[0.06812348673967696,0.48730461727685404,0.43499995191243834],"tcp_quaternion_wxyz":[-7.948658611356815e-09,0.7071067818797541,0.70710678049334,1.8535737087790128e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-1.8391149705661228e-17,-9.059700360359532e-17,-1.9168218307467994e-07],"object_linear_velocity_m_s":[2.75353416736957e-16,-2.0947237409559462e-17,6.119571366824224e-15],"object_angular_velocity_rad_s":[1.5847896936654638e-15,-1.3696914326068984e-14,-8.906844408157451e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221862814,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236933962,-1.5920596015372412,1.3065911167925564,-1.3102027509125995,-1.5707950792394436,-0.41471399690178423,0.0],"actuator_force":[3.7816153053427115e-07,-19.80784195615388,-20.28858096770182,-2.4133474697677,0.0006237192613980369,-6.6031020651280414e-09,-0.29336110827953704],"issued_joint_targets_rad":[-1.9855103236817415,-1.5821556804313366,1.3167354095318895,-1.3053760569130248,-1.5707963266874085,-0.4147139968898887],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.81999999999778,"joint_targets_rad":[-1.9855103236817415,-1.5821556804313366,1.3167354095318895,-1.3053760569130248,-1.5707963266874085,-0.4147139968898887],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.839999999997769,"qpos":[-1.9855103266714915,-1.582155735165295,1.3167355874083304,-1.305376215740674,-1.5707963255283965,-0.41471399808440307,0.002933611094970457,0.00015630156595272484,0.00319347938532361,-0.0034292988587739342,0.00293361099568856,0.00015630111148235557,0.003197849332302629,-0.003437996807053682,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,-8.84333342926514e-18,-1.1159049262880941e-16,-1.9202004089917207e-07],"qvel":[1.4093256346980022e-08,2.735978462988335e-07,-9.003852543429758e-07,7.992111947017343e-07,-5.799481773776094e-09,6.033059287422954e-09,1.0122528539192696e-09,3.9261122791340226e-09,-3.263383632263742e-09,-9.755896392062302e-10,-1.2632156669895593e-10,-3.040174014407832e-09,3.090730104240927e-09,-3.577145426795098e-11,1.2942029931045652e-16,-1.2816367626067777e-17,5.721278856739949e-15,7.213111293627675e-16,3.3661422649780285e-15,-9.649836519836863e-09],"joint_position_rad":[-1.9855103266714915,-1.582155735165295,1.3167355874083304,-1.305376215740674,-1.5707963255283965,-0.41471399808440307],"joint_velocity_rad_s":[1.4093256346980022e-08,2.735978462988335e-07,-9.003852543429758e-07,7.992111947017343e-07,-5.799481773776094e-09,6.033059287422954e-09],"linkage_position_rad":[0.002933611094970457,0.00015630156595272484,0.00319347938532361,-0.0034292988587739342,0.00293361099568856,0.00015630111148235557,0.003197849332302629,-0.003437996807053682],"tcp_position_m":[0.06812348668963858,0.4873046174325666,0.4349999565578525],"tcp_quaternion_wxyz":[-7.238082696661716e-09,0.7071067818201829,0.7071067805529118,1.6875543974026948e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,-8.84333342926514e-18,-1.1159049262880941e-16,-1.9202004089917207e-07],"object_linear_velocity_m_s":[1.2942029931045652e-16,-1.2816367626067777e-17,5.721278856739949e-15],"object_angular_velocity_rad_s":[7.21312424249926e-16,3.366141987794726e-15,-9.649836519836876e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322178467,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236817415,-1.5920596015177841,1.3065911166488589,-1.3102027507215805,-1.5707950792510195,-0.4147139968898416,0.0],"actuator_force":[3.4219783628941514e-07,-19.807842144116876,-20.288581364841775,-2.4133474115726585,0.0006237186366888636,-6.025203447279637e-09,-0.29336110896260725],"issued_joint_targets_rad":[-1.9855103236711846,-1.5821556803350807,1.316735409369997,-1.305376056750992,-1.5707963266975276,-0.4147139968790656],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.839999999997769,"joint_targets_rad":[-1.9855103236711846,-1.5821556803350807,1.316735409369997,-1.305376056750992,-1.5707963266975276,-0.4147139968790656],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.859999999997758,"qpos":[-1.9855103264018605,-1.5821557299619204,1.316735570308338,-1.3053762005556233,-1.5707963256395892,-0.4147139979689233,0.002933611100104948,0.00015630155434743806,0.003193479404456204,-0.0034292988669769714,0.002933611005369488,0.00015630111828028308,0.0031978493312148663,-0.0034379968151723567,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,6.457703848401837e-18,-1.122038961400913e-16,-1.9250720293117824e-07],"qvel":[1.2878112348051073e-08,2.480919059205927e-07,-8.146389276766578e-07,7.236225842275726e-07,-5.290343904935468e-09,5.504481640961246e-09,4.326701510152956e-10,1.5699641915323443e-09,-9.053965277533384e-10,-7.620550870042855e-10,4.705444846242421e-10,-1.2262750360923079e-09,1.4546276615040827e-09,-2.641821229829705e-10,1.3809446407501067e-16,5.1094739510494444e-18,5.5616842969500824e-15,4.436990910085068e-16,3.553832093817889e-15,-1.7618164598000104e-08],"joint_position_rad":[-1.9855103264018605,-1.5821557299619204,1.316735570308338,-1.3053762005556233,-1.5707963256395892,-0.4147139979689233],"joint_velocity_rad_s":[1.2878112348051073e-08,2.480919059205927e-07,-8.146389276766578e-07,7.236225842275726e-07,-5.290343904935468e-09,5.504481640961246e-09],"linkage_position_rad":[0.002933611100104948,0.00015630155434743806,0.003193479404456204,-0.0034292988669769714,0.002933611005369488,0.00015630111828028308,0.0031978493312148663,-0.0034379968151723567],"tcp_position_m":[0.06812348664343298,0.4873046175738416,0.43499996075429936],"tcp_quaternion_wxyz":[-6.590639762190467e-09,0.7071067817656821,0.7071067806074126,1.5363143139035657e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,6.457703848401837e-18,-1.122038961400913e-16,-1.9250720293117824e-07],"object_linear_velocity_m_s":[1.3809446407501067e-16,5.1094739510494444e-18,5.5616842969500824e-15],"object_angular_velocity_rad_s":[4.437004632386802e-16,3.553831923214634e-15,-1.761816459800013e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221699005,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236711846,-1.5920596015003816,1.3065911165187543,-1.3102027505485945,-1.5707950792615084,-0.4147139968790228,0.0],"actuator_force":[3.1010722523205914e-07,-19.807842313684432,-20.288581723596508,-2.4133473587439767,0.0006237180748485116,-5.497923893926782e-09,-0.29336110978979496],"issued_joint_targets_rad":[-1.9855103236616227,-1.5821556802479455,1.3167354092234504,-1.3053760566043164,-1.570796326706694,-0.4147139968692596],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.859999999997758,"joint_targets_rad":[-1.9855103236616227,-1.5821556802479455,1.3167354092234504,-1.3053760566043164,-1.570796326706694,-0.4147139968692596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.879999999997747,"qpos":[-1.9855103261554798,-1.5821557252436633,1.3167355548368216,-1.3053761868067804,-1.5707963257410655,-0.4147139978635676,0.0029336111086916564,0.000156301565359719,0.003193479401622213,-0.003429298876370375,0.0029336110103208826,0.00015630110911229374,0.003197849343400768,-0.003437996820979561,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,8.141034512016935e-18,-1.176543078213429e-16,-1.92933704006955e-07],"qvel":[1.176085433233322e-08,2.2496082600333104e-07,-7.370608902046713e-07,6.55169093774631e-07,-4.8583520643898905e-09,5.021863280171393e-09,-1.2009579894405834e-09,-8.285460290524883e-09,8.223870787910955e-09,4.5744967203619305e-10,1.3701732373367047e-09,5.763678607494089e-09,-5.391961456751031e-09,-7.466530626871285e-10,1.6469917231807898e-16,7.889875491488296e-18,5.481193127664758e-15,-9.236252466880893e-17,1.117043264559007e-15,-3.216631941527516e-08],"joint_position_rad":[-1.9855103261554798,-1.5821557252436633,1.3167355548368216,-1.3053761868067804,-1.5707963257410655,-0.4147139978635676],"joint_velocity_rad_s":[1.176085433233322e-08,2.2496082600333104e-07,-7.370608902046713e-07,6.55169093774631e-07,-4.8583520643898905e-09,5.021863280171393e-09],"linkage_position_rad":[0.0029336111086916564,0.000156301565359719,0.003193479401622213,-0.003429298876370375,0.0029336110103208826,0.00015630110911229374,0.003197849343400768,-0.003437996820979561],"tcp_position_m":[0.06812348660076968,0.4873046177020115,0.43499996454518786],"tcp_quaternion_wxyz":[-6.000767719293251e-09,0.7071067817158222,0.7071067806572718,1.3985461711585062e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,8.141034512016935e-18,-1.176543078213429e-16,-1.92933704006955e-07],"object_linear_velocity_m_s":[1.6469917231807898e-16,7.889875491488296e-18,5.481193127664758e-15],"object_angular_velocity_rad_s":[-9.236208606920089e-17,1.1170433007223466e-15,-3.216631941527522e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221678293,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236616227,-1.5920596014848205,1.30659111640096,-1.3102027503919416,-1.5707950792710133,-0.4147139968692206,0.0],"actuator_force":[2.83372173726093e-07,-19.807842466644615,-20.288582047367072,-2.41334730948995,0.000623720861426591,-5.012850579078076e-09,-0.29336110679670324],"issued_joint_targets_rad":[-1.9855103236529614,-1.5821556801690635,1.316735409090792,-1.305376056471541,-1.570796326714998,-0.41471399686037685],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.879999999997747,"joint_targets_rad":[-1.9855103236529614,-1.5821556801690635,1.316735409090792,-1.305376056471541,-1.570796326714998,-0.41471399686037685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.899999999997736,"qpos":[-1.9855103259303721,-1.582155720965349,1.316735540838671,-1.3053761743583223,-1.5707963258336628,-0.4147139977674543,0.002933611115226737,0.0001563015669935253,0.0031934794061875948,-0.0034292988829254367,0.0029336110165170117,0.0001563011068016294,0.0031978493505386584,-0.0034379968281167926,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,1.9458040022796442e-17,-1.2513823930914317e-16,-1.9333228139579723e-07],"qvel":[1.0751437043660083e-08,2.0398388734930797e-07,-6.668684602190558e-07,5.932120818378162e-07,-4.41061337203852e-09,4.581315192067968e-09,1.2602448198435542e-09,4.876548533870966e-09,-4.4222649469504075e-09,-7.391417907471548e-10,-5.978593986998228e-10,-3.3436567669044154e-09,3.301243369564813e-09,1.9578021794476747e-11,2.1950530109404577e-16,4.4542898215264954e-17,5.402089737160214e-15,2.28981254440935e-15,-3.767634227357943e-15,-5.872757624498023e-08],"joint_position_rad":[-1.9855103259303721,-1.582155720965349,1.316735540838671,-1.3053761743583223,-1.5707963258336628,-0.4147139977674543],"joint_velocity_rad_s":[1.0751437043660083e-08,2.0398388734930797e-07,-6.668684602190558e-07,5.932120818378162e-07,-4.41061337203852e-09,4.581315192067968e-09],"linkage_position_rad":[0.002933611115226737,0.0001563015669935253,0.0031934794061875948,-0.0034292988829254367,0.0029336110165170117,0.0001563011068016294,0.0031978493505386584,-0.0034379968281167926],"tcp_position_m":[0.0681234865613934,0.48730461781828893,0.43499996796973217],"tcp_quaternion_wxyz":[-5.463387686060383e-09,0.7071067816702158,0.7071067807028785,1.2730587095205678e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,1.9458040022796442e-17,-1.2513823930914317e-16,-1.9333228139579723e-07],"object_linear_velocity_m_s":[2.1950530109404577e-16,4.4542898215264954e-17,5.402089737160214e-15],"object_angular_velocity_rad_s":[2.289811102296673e-15,-3.76763511046159e-15,-5.872757624498034e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221633653,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236529614,-1.5920596014709036,1.306591116294308,-1.3102027502500777,-1.5707950792796253,-0.4147139968603413,0.0],"actuator_force":[2.5424651539651677e-07,-19.807842604664074,-20.28858234134168,-2.4133472670858964,0.000623718080191793,-4.575042567012133e-09,-0.29336110989911457],"issued_joint_targets_rad":[-1.985510323645117,-1.5821556800976555,1.316735408970707,-1.305376056351349,-1.57079632672252,-0.414713996852329],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.899999999997736,"joint_targets_rad":[-1.985510323645117,-1.5821556800976555,1.316735408970707,-1.305376056351349,-1.57079632672252,-0.414713996852329],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.919999999997724,"qpos":[-1.9855103257247204,-1.5821557170860059,1.3167355281735562,-1.3053761630872833,-1.5707963259181938,-0.4147139976797782,0.0029336111208849206,0.00015630156550896989,0.0031934794124616004,-0.0034292988870914904,0.0029336110217645576,0.00015630110861082063,0.0031978493523831253,-0.0034379968349055935,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999822,2.237707791064416e-17,-1.105979159597892e-16,-1.9360547861724832e-07],"qvel":[9.822345188567975e-09,1.8496060037380436e-07,-6.033632846509805e-07,5.371051617793597e-07,-4.022655237836762e-09,4.1791452594238674e-09,8.028706710672255e-10,3.371930645012084e-09,-2.9476558914135063e-09,-6.463702081112917e-10,-1.501716014381871e-10,-2.368811090359744e-09,2.449933086285761e-09,-3.685835695630768e-11,3.216264345440776e-16,7.237878962636437e-17,5.31188411640942e-15,3.0859231845433305e-15,-1.0707139162670633e-14,-1.0722172366327665e-07],"joint_position_rad":[-1.9855103257247204,-1.5821557170860059,1.3167355281735562,-1.3053761630872833,-1.5707963259181938,-0.4147139976797782],"joint_velocity_rad_s":[9.822345188567975e-09,1.8496060037380436e-07,-6.033632846509805e-07,5.371051617793597e-07,-4.022655237836762e-09,4.1791452594238674e-09],"linkage_position_rad":[0.0029336111208849206,0.00015630156550896989,0.0031934794124616004,-0.0034292988870914904,0.0029336110217645576,0.00015630110861082063,0.0031978493523831253,-0.0034379968349055935],"tcp_position_m":[0.06812348652507504,0.4873046179237724,0.43499997106335453],"tcp_quaternion_wxyz":[-4.973844963297101e-09,0.7071067816285053,0.7071067807445894,1.158766439461183e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999822,2.237707791064416e-17,-1.105979159597892e-16,-1.9360547861724832e-07],"object_linear_velocity_m_s":[3.216264345440776e-16,7.237878962636437e-17,5.31188411640942e-15],"object_angular_velocity_rad_s":[3.0859190623384997e-15,-1.0707140352774509e-14,-1.0722172366327686e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322160781,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323645117,-1.592059601458461,1.3065911161977461,-1.3102027501216076,-1.5707950792874286,-0.4147139968522967,0.0],"actuator_force":[2.302685970789753e-07,-19.807842729150707,-20.288582606306136,-2.413347227678287,0.0006237176481818096,-4.173784873273689e-09,-0.2933611103959693],"issued_joint_targets_rad":[-1.9855103236380114,-1.5821556800330117,1.3167354088620038,-1.3053760562425492,-1.5707963267293337,-0.41471399684503857],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.919999999997724,"joint_targets_rad":[-1.9855103236380114,-1.5821556800330117,1.3167354088620038,-1.3053760562425492,-1.5707963267293337,-0.41471399684503857],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.939999999997713,"qpos":[-1.9855103255368536,-1.582155713568471,1.3167355167145176,-1.305376152882301,-1.5707963259953395,-0.4147139975998035,0.0029336111235092137,0.00015630155472247745,0.0031934794281096024,-0.003429298892612065,0.002933611028853348,0.0001563011153184859,0.003197849349535249,-0.0034379968402186633,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,2.6129004872444032e-17,-1.1345082848293967e-16,-1.9401219615530227e-07],"qvel":[8.971507153023545e-09,1.6770935265286178e-07,-5.459069666679214e-07,4.863030470763142e-07,-3.6713461003576834e-09,3.8120455536555445e-09,6.138808831652299e-11,-1.3946505567064483e-10,5.980575660059493e-10,-4.2230788148350643e-10,5.607900003035546e-10,2.895038998411599e-11,1.9475229376942332e-10,-2.482216661552559e-10,1.4084431291144142e-16,3.1008644856215464e-17,5.42706975521428e-15,-9.202146447556655e-16,4.241267618008654e-15,-1.1616595702266663e-08],"joint_position_rad":[-1.9855103255368536,-1.582155713568471,1.3167355167145176,-1.305376152882301,-1.5707963259953395,-0.4147139975998035],"joint_velocity_rad_s":[8.971507153023545e-09,1.6770935265286178e-07,-5.459069666679214e-07,4.863030470763142e-07,-3.6713461003576834e-09,3.8120455536555445e-09],"linkage_position_rad":[0.0029336111235092137,0.00015630155472247745,0.0031934794281096024,-0.003429298892612065,0.002933611028853348,0.0001563011153184859,0.003197849349535249,-0.0034379968402186633],"tcp_position_m":[0.06812348649158,0.4873046180194594,0.43499997385804523],"tcp_quaternion_wxyz":[-4.527915772865427e-09,0.7071067815903596,0.7071067807827347,1.054676604132978e-08],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,2.6129004872444032e-17,-1.1345082848293967e-16,-1.9401219615530227e-07],"object_linear_velocity_m_s":[1.4084431291144142e-16,3.1008644856215464e-17,5.42706975521428e-15],"object_angular_velocity_rad_s":[-9.202129964044811e-16,4.241267975681123e-15,-1.1616595702266661e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221544421,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236380114,-1.5920596014473352,1.3065911161103196,-1.3102027500052684,-1.570795079294499,-0.41471399684500915,0.0],"actuator_force":[2.0908146325382404e-07,-19.807842841469665,-20.2885828456092,-2.413347191788489,0.0006237175548449159,-3.807400617006351e-09,-0.29336111072901855],"issued_joint_targets_rad":[-1.9855103236315748,-1.5821556799744922,1.3167354087636025,-1.305376056144059,-1.5707963267355065,-0.41471399683843335],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.939999999997713,"joint_targets_rad":[-1.9855103236315748,-1.5821556799744922,1.3167354087636025,-1.305376056144059,-1.5707963267355065,-0.41471399683843335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.959999999997702,"qpos":[-1.9855103253652422,-1.5821557103790398,1.3167355063466892,-1.3053761436425466,-1.5707963260657292,-0.414713997526858,0.002933611129164923,0.0001563015608274619,0.0031934794271424086,-0.0034292988984144616,0.002933611032068689,0.0001563011103944065,0.0031978493565697473,-0.0034379968442090196,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,2.706060318424927e-17,-1.1865330746190673e-16,-1.944736465587768e-07],"qvel":[8.18849252332723e-09,1.5206520775998127e-07,-4.939238569394569e-07,4.402929181632751e-07,-3.3819194932626136e-09,3.4769516796739826e-09,-1.942727583422627e-09,-1.2295744360084296e-08,1.180906149791211e-08,9.370952724123476e-10,1.6940308861913641e-09,8.175944541367321e-09,-7.705252339500772e-09,-8.375507227870086e-10,1.5338920466384387e-16,3.416045850645683e-17,6.140388048535942e-15,-4.206341486602631e-16,3.0467046787099307e-15,-2.1208970196563844e-08],"joint_position_rad":[-1.9855103253652422,-1.5821557103790398,1.3167355063466892,-1.3053761436425466,-1.5707963260657292,-0.414713997526858],"joint_velocity_rad_s":[8.18849252332723e-09,1.5206520775998127e-07,-4.939238569394569e-07,4.402929181632751e-07,-3.3819194932626136e-09,3.4769516796739826e-09],"linkage_position_rad":[0.002933611129164923,0.0001563015608274619,0.0031934794271424086,-0.0034292988984144616,0.002933611032068689,0.0001563011103944065,0.0031978493565697473,-0.0034379968442090196],"tcp_position_m":[0.0681234864606917,0.48730461810625664,0.4349999763827014],"tcp_quaternion_wxyz":[-4.121744767357434e-09,0.7071067815554758,0.7071067808176185,9.598840993470813e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,2.706060318424927e-17,-1.1865330746190673e-16,-1.944736465587768e-07],"object_linear_velocity_m_s":[1.5338920466384387e-16,3.416045850645683e-17,6.140388048535942e-15],"object_angular_velocity_rad_s":[-4.2063295861966445e-16,3.0467048434620682e-15,-2.1208970196563844e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221530748,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236315748,-1.5920596014373891,1.3065911160311634,-1.3102027498999125,-1.5707950793009064,-0.4147139968384066,0.0],"actuator_force":[1.9193794287275523e-07,-19.807842942781463,-20.28858306150869,-2.4133471579748402,0.0006237206032437825,-3.4694664918788476e-09,-0.2933611068181971],"issued_joint_targets_rad":[-1.9855103236257456,-1.5821556799215168,1.3167354086745267,-1.3053760560549026,-1.570796326741098,-0.4147139968324493],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.959999999997702,"joint_targets_rad":[-1.9855103236257456,-1.5821556799215168,1.3167354086745267,-1.3053760560549026,-1.570796326741098,-0.4147139968324493],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.979999999997691,"qpos":[-1.9855103252084927,-1.582155707487143,1.316735496966143,-1.3053761352767255,-1.5707963261299271,-0.4147139974603276,0.002933611133764117,0.00015630156557171988,0.003193479427397167,-0.00342929890385068,0.0029336110362828526,0.00015630110652928582,0.003197849363245525,-0.003437996848476941,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,4.194909374855977e-17,-1.161913238513005e-16,-1.9492524035467194e-07],"qvel":[7.486373775498578e-09,1.3787879731780313e-07,-4.4688774149520427e-07,3.9866028760645704e-07,-3.0567068525746238e-09,3.171182305777021e-09,1.127901177513301e-09,4.641899630400895e-09,-4.353520086292444e-09,-5.242432513173288e-10,-6.381165364897847e-10,-3.0590679312967085e-09,3.019800844037158e-09,6.06575747438308e-11,1.6617384013870593e-16,6.602249333164049e-17,6.324962626379874e-15,7.768682454526016e-16,1.035756531694097e-15,-3.8722223646901914e-08],"joint_position_rad":[-1.9855103252084927,-1.582155707487143,1.316735496966143,-1.3053761352767255,-1.5707963261299271,-0.4147139974603276],"joint_velocity_rad_s":[7.486373775498578e-09,1.3787879731780313e-07,-4.4688774149520427e-07,3.9866028760645704e-07,-3.0567068525746238e-09,3.171182305777021e-09],"linkage_position_rad":[0.002933611133764117,0.00015630156557171988,0.003193479427397167,-0.00342929890385068,0.0029336110362828526,0.00015630110652928582,0.003197849363245525,-0.003437996848476941],"tcp_position_m":[0.06812348643220976,0.48730461818498766,0.43499997866342677],"tcp_quaternion_wxyz":[-3.751820208160624e-09,0.7071067815235786,0.7071067808495156,8.735632114551025e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,4.194909374855977e-17,-1.161913238513005e-16,-1.9492524035467194e-07],"object_linear_velocity_m_s":[1.6617384013870593e-16,6.602249333164049e-17,6.324962626379874e-15],"object_angular_velocity_rad_s":[7.768686582410979e-16,1.0357562320802824e-15,-3.872222364690192e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221509918,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236257456,-1.592059601428498,1.306591115959495,-1.3102027498045032,-1.5707950793067116,-0.41471399683242494,0.0],"actuator_force":[1.7094453141908161e-07,-19.80784303422888,-20.288583258199196,-2.413347129917497,0.0006237172784722134,-3.1668889732827665e-09,-0.2933611109512717],"issued_joint_targets_rad":[-1.9855103236204654,-1.582155679873561,1.3167354085938963,-1.305376055974198,-1.5707963267461627,-0.41471399682702825],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.979999999997691,"joint_targets_rad":[-1.9855103236204654,-1.582155679873561,1.3167354085938963,-1.305376055974198,-1.5707963267461627,-0.41471399682702825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.99999999999768,"qpos":[-1.9855103250653396,-1.5821557048650563,1.3167354884788487,-1.3053761277022098,-1.5707963261885363,-0.414713997399652,0.002933611136436884,0.00015630155717164822,0.0031934794385318948,-0.003429298906177057,0.002933611040702048,0.00015630111102311233,0.0031978493622547657,-0.0034379968535909384,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,3.718256612738873e-17,-1.0114916353510424e-16,-1.9528232752990837e-07],"qvel":[6.837160698498107e-09,1.250142643990234e-07,-4.043336001169929e-07,3.609533358119877e-07,-2.786110326168365e-09,2.8921163082237682e-09,5.25859896664713e-10,2.450534783831634e-09,-2.0468690723470524e-09,-4.956139930495075e-10,1.8563260021624013e-11,-1.6022382254046566e-09,1.6794902759111722e-09,-7.848745198133818e-11,1.857353119915584e-16,5.538784879538354e-17,6.417943804692233e-15,-3.3920952476404523e-16,-2.1992352703891473e-15,-7.069700179990985e-08],"joint_position_rad":[-1.9855103250653396,-1.5821557048650563,1.3167354884788487,-1.3053761277022098,-1.5707963261885363,-0.414713997399652],"joint_velocity_rad_s":[6.837160698498107e-09,1.250142643990234e-07,-4.043336001169929e-07,3.609533358119877e-07,-2.786110326168365e-09,2.8921163082237682e-09],"linkage_position_rad":[0.002933611136436884,0.00015630155717164822,0.0031934794385318948,-0.003429298906177057,0.002933611040702048,0.00015630111102311233,0.0031978493622547657,-0.0034379968535909384],"tcp_position_m":[0.06812348640597668,0.4873046182563987,0.4349999807238046],"tcp_quaternion_wxyz":[-3.4149050456228094e-09,0.7071067814944185,0.707106780878676,7.949642177498524e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,3.718256612738873e-17,-1.0114916353510424e-16,-1.9528232752990837e-07],"object_linear_velocity_m_s":[1.857353119915584e-16,5.538784879538354e-17,6.417943804692233e-15],"object_angular_velocity_rad_s":[-3.3921036940569806e-16,-2.1992351326483405e-15,-7.069700179990988e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221455667,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236204654,-1.5920596014205517,1.3065911158946097,-1.3102027497181052,-1.5707950793119712,-0.4147139968270061,0.0],"actuator_force":[1.5488421922782436e-07,-19.807843116696404,-20.288583435037708,-2.413347103281353,0.0006237168936422677,-2.888697281377972e-09,-0.2933611115790624],"issued_joint_targets_rad":[-1.9855103236156828,-1.5821556798301477,1.3167354085209066,-1.3053760559011416,-1.570796326750751,-0.414713996822117],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.99999999999768,"joint_targets_rad":[-1.9855103236156828,-1.5821556798301477,1.3167354085209066,-1.3053760559011416,-1.570796326750751,-0.414713996822117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.019999999997669,"qpos":[-1.9855103249346049,-1.5821557024876354,1.3167354807997396,-1.305376120844146,-1.5707963262420124,-0.414713997344319,0.0029336111398869744,0.0001563015564987053,0.0031934794422413546,-0.003429298909507522,0.0029336110434894144,0.00015630111099994824,0.003197849364104326,-0.0034379968570447555,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,2.6202253992581187e-17,-8.0964339235929e-17,-1.955504980977512e-07],"qvel":[6.240523671873648e-09,1.1334864960500914e-07,-3.6583337435958375e-07,3.2680708143433007e-07,-2.5513813448513706e-09,2.637447687346745e-09,-7.795521255970147e-10,-5.1184107432590175e-09,5.155903841431433e-09,2.6746306251893925e-10,1.0495267574841006e-09,3.180539220432324e-09,-2.768480334836588e-09,-5.244102607002825e-10,1.0074004266790094e-16,3.3117825539560416e-17,6.533129443497093e-15,-1.575290413335144e-15,3.7424372409863915e-15,-7.659441195435163e-09],"joint_position_rad":[-1.9855103249346049,-1.5821557024876354,1.3167354807997396,-1.305376120844146,-1.5707963262420124,-0.414713997344319],"joint_velocity_rad_s":[6.240523671873648e-09,1.1334864960500914e-07,-3.6583337435958375e-07,3.2680708143433007e-07,-2.5513813448513706e-09,2.637447687346745e-09],"linkage_position_rad":[0.0029336111398869744,0.0001563015564987053,0.0031934794422413546,-0.003429298909507522,0.0029336110434894144,0.00015630111099994824,0.003197849364104326,-0.0034379968570447555],"tcp_position_m":[0.06812348638180848,0.4873046183211672,0.4349999825851302],"tcp_quaternion_wxyz":[-3.1080818286358265e-09,0.7071067814677598,0.7071067809053342,7.233994949318194e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,2.6202253992581187e-17,-8.0964339235929e-17,-1.955504980977512e-07],"object_linear_velocity_m_s":[1.0074004266790094e-16,3.3117825539560416e-17,6.533129443497093e-15],"object_angular_velocity_rad_s":[-1.575288948423808e-15,3.742437857485146e-15,-7.659441195435167e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221435439,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236156828,-1.5920596014134487,1.306591115835862,-1.3102027496398647,-1.5707950793167376,-0.4147139968220968,0.0],"actuator_force":[1.4163424566504546e-07,-19.807843191086704,-20.28858359440528,-2.4133470785676536,0.0006237177755110679,-2.633669282658957e-09,-0.29336111051869257],"issued_joint_targets_rad":[-1.985510323611351,-1.5821556797908478,1.3167354084548344,-1.3053760558350078,-1.5707963267549079,-0.41471399681766796],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.019999999997669,"joint_targets_rad":[-1.985510323611351,-1.5821556797908478,1.3167354084548344,-1.3053760558350078,-1.5707963267549079,-0.41471399681766796],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.039999999997658,"qpos":[-1.9855103248152104,-1.5821557003320765,1.3167354738518493,-1.3053761146347518,-1.570796326290755,-0.4147139972938609,0.0029336111453940024,0.00015630157136688495,0.0031934794313187515,-0.003429298914397988,0.0029336110447955414,0.0001563011014271913,0.003197849375242365,-0.0034379968595004496,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,3.906630143774825e-17,-1.0024199236464111e-16,-1.960401098331295e-07],"qvel":[5.701990975917752e-09,1.0277049972678677e-07,-3.3099685021844725e-07,2.9589841359722007e-07,-2.321898012037302e-09,2.4050723279760554e-09,1.1667106163193636e-09,4.763676434552338e-09,-4.610712897744834e-09,-4.0393803783042784e-10,-8.158702956330356e-10,-2.9860677396483474e-09,2.905699990560352e-09,1.27278543863834e-10,1.2503682858861724e-16,4.7487229014601644e-17,6.61639617034398e-15,-8.355432692719875e-16,3.3830136068378647e-15,-1.3984205373063696e-08],"joint_position_rad":[-1.9855103248152104,-1.5821557003320765,1.3167354738518493,-1.3053761146347518,-1.570796326290755,-0.4147139972938609],"joint_velocity_rad_s":[5.701990975917752e-09,1.0277049972678677e-07,-3.3099685021844725e-07,2.9589841359722007e-07,-2.321898012037302e-09,2.4050723279760554e-09],"linkage_position_rad":[0.0029336111453940024,0.00015630157136688495,0.0031934794313187515,-0.003429298914397988,0.0029336110447955414,0.0001563011014271913,0.003197849375242365,-0.0034379968595004496],"tcp_position_m":[0.06812348635953067,0.48730461837991035,0.4349999842666399],"tcp_quaternion_wxyz":[-2.828698076818064e-09,0.7071067814433873,0.7071067809297074,6.582415602462565e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,3.906630143774825e-17,-1.0024199236464111e-16,-1.960401098331295e-07],"object_linear_velocity_m_s":[1.2503682858861724e-16,4.7487229014601644e-17,6.61639617034398e-15],"object_angular_velocity_rad_s":[-8.355419400555964e-16,3.3830139355302173e-15,-1.3984205373063706e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221459559,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323611351,-1.5920596014071016,1.306591115782672,-1.3102027495690112,-1.570795079321057,-0.4147139968176496,0.0],"actuator_force":[1.2692271411651745e-07,-19.80784325825016,-20.28858373961475,-2.41334705697102,0.0006237170387066726,-2.4016060251597082e-09,-0.2933611112636788],"issued_joint_targets_rad":[-1.9855103236074272,-1.5821556797552703,1.316735408395025,-1.3053760557751426,-1.5707963267586724,-0.4147139968136374],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.039999999997658,"joint_targets_rad":[-1.9855103236074272,-1.5821556797552703,1.316735408395025,-1.3053760557751426,-1.5707963267586724,-0.4147139968136374],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.059999999997647,"qpos":[-1.9855103247062016,-1.5821556983776988,1.316735467565534,-1.305376109012712,-1.570796326335253,-0.41471399724785096,0.0029336111459182354,0.00015630155672715368,0.003193479447118918,-0.0034292989147249706,0.0029336110495518214,0.0001563011107565154,0.0031978493694846846,-0.0034379968642444356,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,5.608993909241473e-17,-1.0204481138962988e-16,-1.9647511898705972e-07],"qvel":[5.2078246674360075e-09,9.317838348450098e-08,-2.994789141027786e-07,2.679117688888473e-07,-2.1137576825381846e-09,2.1930533062810357e-09,8.804110534312479e-10,4.879045385783237e-09,-4.3820662878093236e-09,-7.920265674244194e-10,-4.497997339464611e-10,-3.0714241203793987e-09,2.8846437161673626e-09,2.202191334947277e-10,1.3552000574757841e-16,7.448805424511547e-17,6.687172888163837e-15,-2.1467013021657012e-16,2.063783894498172e-15,-2.55316275595365e-08],"joint_position_rad":[-1.9855103247062016,-1.5821556983776988,1.316735467565534,-1.305376109012712,-1.570796326335253,-0.41471399724785096],"joint_velocity_rad_s":[5.2078246674360075e-09,9.317838348450098e-08,-2.994789141027786e-07,2.679117688888473e-07,-2.1137576825381846e-09,2.1930533062810357e-09],"linkage_position_rad":[0.0029336111459182354,0.00015630155672715368,0.003193479447118918,-0.0034292989147249706,0.0029336110495518214,0.0001563011107565154,0.0031978493694846846,-0.0034379968642444356],"tcp_position_m":[0.06812348633903209,0.4873046184331855,0.4349999857857201],"tcp_quaternion_wxyz":[-2.5742884745230958e-09,0.7071067814211138,0.7071067809519804,5.989236396105579e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,5.608993909241473e-17,-1.0204481138962988e-16,-1.9647511898705972e-07],"object_linear_velocity_m_s":[1.3552000574757841e-16,7.448805424511547e-17,6.687172888163837e-15],"object_angular_velocity_rad_s":[-2.1466931404144044e-16,2.063783981716827e-15,-2.5531627559536522e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221397773,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236074272,-1.5920596014014285,1.3065911157345147,-1.3102027495048485,-1.5707950793249694,-0.4147139968136207,0.0],"actuator_force":[1.1441898095654324e-07,-19.807843318812957,-20.28858387047285,-2.413347037245103,0.0006237165174525217,-2.1902053504163632e-09,-0.29336111192655945],"issued_joint_targets_rad":[-1.9855103236038731,-1.5821556797230645,1.3167354083408849,-1.3053760557209515,-1.570796326762083,-0.41471399680998616],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.059999999997647,"joint_targets_rad":[-1.9855103236038731,-1.5821556797230645,1.3167354083408849,-1.3053760557209515,-1.570796326762083,-0.41471399680998616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.079999999997636,"qpos":[-1.9855103246066674,-1.5821556966057453,1.3167354618777962,-1.3053761039224596,-1.5707963263758506,-0.4147139972058993,0.002933611147608759,0.0001563015565606073,0.003193479451124908,-0.0034292989190818244,0.0029336110524390666,0.00015630111039661266,0.0031978493701322643,-0.003437996865675466,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,8.579898895585198e-17,-1.0441257602461912e-16,-1.9689254347977116e-07],"qvel":[4.75276498388865e-09,8.448051387529961e-08,-2.709640759120425e-07,2.425684465523859e-07,-1.9300093953473446e-09,1.9996145186532136e-09,1.192919864124142e-10,3.8528843432631364e-10,-1.218024432226085e-10,-1.632129000421827e-10,2.656610190506294e-10,-2.6374000824497834e-10,3.8797537391792545e-10,-1.6702547866681938e-10,1.6588067324735195e-16,1.4358459492779484e-16,6.731581809148846e-15,3.5545740429505226e-15,-9.947734935117614e-16,-4.661430438475157e-08],"joint_position_rad":[-1.9855103246066674,-1.5821556966057453,1.3167354618777962,-1.3053761039224596,-1.5707963263758506,-0.4147139972058993],"joint_velocity_rad_s":[4.75276498388865e-09,8.448051387529961e-08,-2.709640759120425e-07,2.425684465523859e-07,-1.9300093953473446e-09,1.9996145186532136e-09],"linkage_position_rad":[0.002933611147608759,0.0001563015565606073,0.003193479451124908,-0.0034292989190818244,0.0029336110524390666,0.00015630111039661266,0.0031978493701322643,-0.003437996865675466],"tcp_position_m":[0.06812348632016059,0.4873046184815,0.43499998715806376],"tcp_quaternion_wxyz":[-2.3426407667677272e-09,0.7071067814007552,0.707106780972339,5.449240828411212e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,8.579898895585198e-17,-1.0441257602461912e-16,-1.9689254347977116e-07],"object_linear_velocity_m_s":[1.6588067324735195e-16,1.4358459492779484e-16,6.731581809148846e-15],"object_angular_velocity_rad_s":[3.554573660957525e-15,-9.947748852510154e-16,-4.661430438475162e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221381234,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236038731,-1.592059601396361,1.3065911156909145,-1.3102027494467454,-1.5707950793285153,-0.41471399680997095,0.0],"actuator_force":[1.04482751339674e-07,-19.80784337343721,-20.28858398813327,-2.413347018987565,0.0006237166686560158,-1.997278786802781e-09,-0.2933611119271563],"issued_joint_targets_rad":[-1.9855103236006537,-1.5821556796939091,1.3167354082918752,-1.3053760556718956,-1.5707963267651726,-0.4147139968066775],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.079999999997636,"joint_targets_rad":[-1.9855103236006537,-1.5821556796939091,1.3167354082918752,-1.3053760556718956,-1.5707963267651726,-0.4147139968066775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.099999999997625,"qpos":[-1.9855103245157928,-1.582155694999208,1.3167354567316316,-1.305376099313693,-1.5707963264128733,-0.41471399716765,0.0029336111500014275,0.00015630155696661196,0.0031934794526349087,-0.0034292989213329556,0.0029336110543367565,0.00015630111012731793,0.0031978493717856483,-0.003437996868123801,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,9.324925962695481e-17,-9.715875958189445e-17,-1.9725997818175988e-07],"qvel":[4.3336856451926405e-09,7.659368846645972e-08,-2.451651469289814e-07,2.196117336487041e-07,-1.789279637947276e-09,1.8231111183325883e-09,-1.8013284527705775e-09,-1.0282325532849045e-08,9.837888455467193e-09,8.11987440273747e-10,1.3074254136129439e-09,6.4667385471005064e-09,-6.3652762433654116e-09,-5.004682281777997e-10,1.948175139960193e-16,1.9901925592285782e-16,6.789868517941667e-15,5.695014273394985e-15,-3.925206238367571e-15,-8.510594822862508e-08],"joint_position_rad":[-1.9855103245157928,-1.582155694999208,1.3167354567316316,-1.305376099313693,-1.5707963264128733,-0.41471399716765],"joint_velocity_rad_s":[4.3336856451926405e-09,7.659368846645972e-08,-2.451651469289814e-07,2.196117336487041e-07,-1.789279637947276e-09,1.8231111183325883e-09],"linkage_position_rad":[0.0029336111500014275,0.00015630155696661196,0.0031934794526349087,-0.0034292989213329556,0.0029336110543367565,0.00015630111012731793,0.0031978493717856483,-0.003437996868123801],"tcp_position_m":[0.06812348630278832,0.4873046185253147,0.43499998839785103],"tcp_quaternion_wxyz":[-2.1317372832248147e-09,0.7071067813821494,0.7071067809909453,4.957685093023023e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,9.324925962695481e-17,-9.715875958189445e-17,-1.9725997818175988e-07],"object_linear_velocity_m_s":[1.948175139960193e-16,1.9901925592285782e-16,6.789868517941667e-15],"object_angular_velocity_rad_s":[5.695012741359934e-15,-3.925208469291923e-15,-8.510594822862517e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221372682,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103236006537,-1.5920596013918331,1.3065911156514383,-1.3102027493941284,-1.5707950793317282,-0.41471399680666365,0.0],"actuator_force":[9.680388757260516e-08,-19.80784342272591,-20.28858409432769,-2.4133470013911165,0.0006237195004814566,-1.8179378002969315e-09,-0.293361107747394],"issued_joint_targets_rad":[-1.9855103235977383,-1.5821556796675162,1.316735408247511,-1.3053760556274892,-1.5707963267679712,-0.4147139968036803],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.099999999997625,"joint_targets_rad":[-1.9855103235977383,-1.5821556796675162,1.316735408247511,-1.3053760556274892,-1.5707963267679712,-0.4147139968036803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.119999999997614,"qpos":[-1.9855103244328285,-1.5821556935426613,1.3167354520754653,-1.3053760951408662,-1.5707963264466205,-0.414713997132778,0.00293361115460702,0.00015630157030024262,0.0031934794415090294,-0.0034292989237254233,0.0029336110543001577,0.00015630110197978165,0.003197849380895247,-0.0034379968698071374,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,8.590888261112047e-17,-8.262118261657789e-17,-1.9758280531561587e-07],"qvel":[3.9625502704442356e-09,6.944243430790842e-08,-2.2181956897857725e-07,1.9884987271078253e-07,-1.60551698449196e-09,1.6621503712758917e-09,9.835529963366033e-10,4.294286321620181e-09,-4.200940901638039e-09,-2.9699400036994465e-10,-6.991066817385919e-10,-2.677935103656636e-09,2.630331820768977e-09,1.0805676297923594e-10,1.0165597395166053e-16,1.0369058879474409e-16,6.939748626266064e-15,-3.633372497389018e-15,3.6395934284667185e-15,-9.220532543711582e-09],"joint_position_rad":[-1.9855103244328285,-1.5821556935426613,1.3167354520754653,-1.3053760951408662,-1.5707963264466205,-0.414713997132778],"joint_velocity_rad_s":[3.9625502704442356e-09,6.944243430790842e-08,-2.2181956897857725e-07,1.9884987271078253e-07,-1.60551698449196e-09,1.6621503712758917e-09],"linkage_position_rad":[0.00293361115460702,0.00015630157030024262,0.0031934794415090294,-0.0034292989237254233,0.0029336110543001577,0.00015630110197978165,0.003197849380895247,-0.0034379968698071374],"tcp_position_m":[0.06812348628679533,0.48730461856504687,0.434999989517892],"tcp_quaternion_wxyz":[-1.9397358646793677e-09,0.7071067813651464,0.7071067810079481,4.510244273050962e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,8.590888261112047e-17,-8.262118261657789e-17,-1.9758280531561587e-07],"object_linear_velocity_m_s":[1.0165597395166053e-16,1.0369058879474409e-16,6.939748626266064e-15],"object_angular_velocity_rad_s":[-3.633371057622956e-15,3.639594865834551e-15,-9.220532543711594e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221402982,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235977383,-1.5920596013877881,1.3065911156156973,-1.3102027493464803,-1.5707950793346392,-0.4147139968036677,0.0],"actuator_force":[8.516008165315725e-08,-19.807843467227485,-20.288584191708196,-2.4133469877942844,0.0006237165423499391,-1.6599130958638852e-09,-0.29336111186759045],"issued_joint_targets_rad":[-1.9855103235950977,-1.5821556796436236,1.3167354082073508,-1.3053760555872915,-1.5707963267705065,-0.4147139968009657],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.119999999997614,"joint_targets_rad":[-1.9855103235950977,-1.5821556796436236,1.3167354082073508,-1.3053760555872915,-1.5707963267705065,-0.4147139968009657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.139999999997602,"qpos":[-1.985510324357101,-1.582155692222117,1.316735447862633,-1.3053760913627677,-1.5707963264774274,-0.41471399710098694,0.002933611156061673,0.0001563015644613773,0.0031934794473557513,-0.003429298923280687,0.002933611056162219,0.0001563011057627812,0.003197849379434358,-0.0034379968729438305,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,7.805505578814925e-17,-6.899023958017325e-17,-1.98048294379697e-07],"qvel":[3.6170988042514907e-09,6.295807514947611e-08,-2.0069930594086295e-07,1.8004099065079895e-07,-1.4618220287773617e-09,1.5152998093852138e-09,4.021461694495705e-10,2.1795522986642728e-09,-1.912957005213024e-09,-3.4708940928935507e-10,-5.839272608023902e-11,-1.381558577922716e-09,1.4131177271455327e-09,3.4965718866996634e-12,8.930336637106445e-17,9.863181329555661e-17,7.08130206190577e-15,-2.8401136449308655e-15,3.095099293181959e-15,-1.6834363950279703e-08],"joint_position_rad":[-1.985510324357101,-1.582155692222117,1.316735447862633,-1.3053760913627677,-1.5707963264774274,-0.41471399710098694],"joint_velocity_rad_s":[3.6170988042514907e-09,6.295807514947611e-08,-2.0069930594086295e-07,1.8004099065079895e-07,-1.4618220287773617e-09,1.5152998093852138e-09],"linkage_position_rad":[0.002933611156061673,0.0001563015644613773,0.0031934794473557513,-0.003429298923280687,0.002933611056162219,0.0001563011057627812,0.003197849379434358,-0.0034379968729438305],"tcp_position_m":[0.06812348627209354,0.4873046186010755,0.4349999905297607],"tcp_quaternion_wxyz":[-1.7649348129203683e-09,0.7071067813496124,0.7071067810234821,4.103001286485067e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,7.805505578814925e-17,-6.899023958017325e-17,-1.98048294379697e-07],"object_linear_velocity_m_s":[8.930336637106445e-17,9.863181329555661e-17,7.08130206190577e-15],"object_angular_velocity_rad_s":[-2.8401124166495613e-15,3.0951004207690614e-15,-1.683436395027973e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221377681,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235950977,-1.5920596013841748,1.3065911155833374,-1.3102027493033321,-1.5707950793372771,-0.4147139968009543,0.0],"actuator_force":[7.716698746662587e-08,-19.807843507346206,-20.288584278869166,-2.413346974381284,0.0006237162572233501,-1.5136265574255958e-09,-0.29336111232996187],"issued_joint_targets_rad":[-1.9855103235927052,-1.582155679621995,1.3167354081709985,-1.3053760555509042,-1.570796326772803,-0.414713996798506],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.139999999997602,"joint_targets_rad":[-1.9855103235927052,-1.582155679621995,1.3167354081709985,-1.3053760555509042,-1.570796326772803,-0.414713996798506],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.159999999997591,"qpos":[-1.9855103242879741,-1.5821556910248893,1.316735444050921,-1.305376087942049,-1.5707963265055238,-0.414713997072006,0.0029336111555825746,0.00015630155601955835,0.0031934794580689724,-0.003429298926035523,0.002933611059597232,0.00015630111077353734,0.003197849375239915,-0.0034379968743961467,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,8.101438930449899e-17,-6.789032059600313e-17,-1.9851066933101758e-07],"qvel":[3.29881597155927e-09,5.7078569842177367e-08,-1.8159123014210983e-07,1.6300624710899791e-07,-1.3417165329617591e-09,1.3813439714389967e-09,-6.78018583739626e-10,-3.693938750873633e-09,3.801313802898783e-09,1.3426850660536336e-10,7.873874606960783e-10,2.284359700486404e-09,-2.131570146492576e-09,-2.6668164960794354e-10,9.075316662733216e-17,1.1089822708468148e-16,5.818423371394654e-15,-1.1232463225619508e-15,1.1366569183023183e-15,-3.0735297366860136e-08],"joint_position_rad":[-1.9855103242879741,-1.5821556910248893,1.316735444050921,-1.305376087942049,-1.5707963265055238,-0.414713997072006],"joint_velocity_rad_s":[3.29881597155927e-09,5.7078569842177367e-08,-1.8159123014210983e-07,1.6300624710899791e-07,-1.3417165329617591e-09,1.3813439714389967e-09],"linkage_position_rad":[0.0029336111555825746,0.00015630155601955835,0.0031934794580689724,-0.003429298926035523,0.002933611059597232,0.00015630111077353734,0.003197849375239915,-0.0034379968743961467],"tcp_position_m":[0.06812348625856976,0.4873046186337447,0.4349999914439061],"tcp_quaternion_wxyz":[-1.6058102851294647e-09,0.7071067813354187,0.707106781037676,3.732352948704856e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,8.101438930449899e-17,-6.789032059600313e-17,-1.9851066933101758e-07],"object_linear_velocity_m_s":[9.075316662733216e-17,1.1089822708468148e-16,5.818423371394654e-15],"object_angular_velocity_rad_s":[-1.1232458671115535e-15,1.136657369234991e-15,-3.073529736686018e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135132213408,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235927052,-1.592059601380948,1.3065911155540406,-1.3102027492642592,-1.5707950793396668,-0.4147139967984956,0.0],"actuator_force":[7.101152732502669e-08,-19.80784354354546,-20.28858435726852,-2.413346961729758,0.0006237171002112518,-1.3791918718197849e-09,-0.2933611113058347],"issued_joint_targets_rad":[-1.985510323590539,-1.582155679602415,1.3167354081380904,-1.3053760555179643,-1.5707963267748832,-0.4147139967962779],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.159999999997591,"joint_targets_rad":[-1.985510323590539,-1.582155679602415,1.3167354081380904,-1.3053760555179643,-1.5707963267748832,-0.4147139967962779],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.17999999999758,"qpos":[-1.9855103242248717,-1.5821556899394746,1.316735440602133,-1.3053760848448943,-1.5707963265311125,-0.4147139970455883,0.002933611161020943,0.00015630157643230658,0.003193479439666929,-0.0034292989285190393,0.0029336110577650983,0.00015630109818129195,0.0031978493879503134,-0.0034379968750191834,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,7.668295056271424e-17,-7.535222099997693e-17,-1.988915147243501e-07],"qvel":[3.0137170391702322e-09,5.174761991449355e-08,-1.6430036593624024e-07,1.475898126497861e-07,-1.2183885419894358e-09,1.2591722133130435e-09,1.021861392513256e-09,4.2770989441967044e-09,-4.268585796163687e-09,-2.2293522625337264e-10,-8.275538407268722e-10,-2.671451999971035e-09,2.601066686311844e-09,1.4414023894371072e-10,1.3809468980985335e-16,1.269811266390841e-16,5.468703118637731e-15,1.2009497116617796e-15,-3.342277956949261e-15,-5.6114891362631783e-08],"joint_position_rad":[-1.9855103242248717,-1.5821556899394746,1.316735440602133,-1.3053760848448943,-1.5707963265311125,-0.4147139970455883],"joint_velocity_rad_s":[3.0137170391702322e-09,5.174761991449355e-08,-1.6430036593624024e-07,1.475898126497861e-07,-1.2183885419894358e-09,1.2591722133130435e-09],"linkage_position_rad":[0.002933611161020943,0.00015630157643230658,0.003193479439666929,-0.0034292989285190393,0.0029336110577650983,0.00015630109818129195,0.0031978493879503134,-0.0034379968750191834],"tcp_position_m":[0.06812348624612005,0.48730461866336683,0.4349999922697684],"tcp_quaternion_wxyz":[-1.4609776519225863e-09,0.7071067813224486,0.7071067810506461,3.3950163173130108e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,7.668295056271424e-17,-7.535222099997693e-17,-1.988915147243501e-07],"object_linear_velocity_m_s":[1.3809468980985335e-16,1.269811266390841e-16,5.468703118637731e-15],"object_angular_velocity_rad_s":[1.2009483906170009e-15,-3.342278426060308e-15,-5.611489136263188e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221396834,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323590539,-1.592059601378066,1.3065911155275145,-1.3102027492288753,-1.5707950793418328,-0.4147139967962684,0.0],"actuator_force":[6.317850420600735e-08,-19.80784357623088,-20.288584429090406,-2.413346950971686,0.00062371647868531,-1.2572627383633517e-09,-0.2933611119108398],"issued_joint_targets_rad":[-1.9855103235885763,-1.5821556795846907,1.3167354081083023,-1.305376055488147,-1.5707963267767677,-0.41471399679425897],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.17999999999758,"joint_targets_rad":[-1.9855103235885763,-1.5821556795846907,1.3167354081083023,-1.305376055488147,-1.5707963267767677,-0.41471399679425897],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.19999999999757,"qpos":[-1.9855103241672891,-1.5821556889554422,1.3167354374817037,-1.305376082040726,-1.570796326554474,-0.4147139970215081,0.0029336111588212765,0.0001563015565338084,0.003193479459903974,-0.0034292989283780115,0.0029336110625225974,0.00015630110988987494,0.0031978493792331206,-0.003437996878176618,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,7.034682302194482e-17,-6.683502900797234e-17,-1.992064073328155e-07],"qvel":[2.751992765212564e-09,4.6914023308135535e-08,-1.486566259217134e-07,1.336308370022502e-07,-1.106462303909652e-09,1.1477523022622306e-09,8.432301114599102e-10,4.976906360790582e-09,-4.515322362702509e-09,-7.355162472218459e-10,-5.367159113368566e-10,-3.051503011280101e-09,2.7967764197480475e-09,2.8311722288046874e-10,1.0351147443561448e-16,1.9819511842166743e-16,5.360456373736779e-15,7.356872064987087e-15,6.190958283695197e-16,-1.0245162085319914e-07],"joint_position_rad":[-1.9855103241672891,-1.5821556889554422,1.3167354374817037,-1.305376082040726,-1.570796326554474,-0.4147139970215081],"joint_velocity_rad_s":[2.751992765212564e-09,4.6914023308135535e-08,-1.486566259217134e-07,1.336308370022502e-07,-1.106462303909652e-09,1.1477523022622306e-09],"linkage_position_rad":[0.0029336111588212765,0.0001563015565338084,0.003193479459903974,-0.0034292989283780115,0.0029336110625225974,0.00015630110988987494,0.0031978493792331206,-0.003437996878176618],"tcp_position_m":[0.06812348623468645,0.4873046186902251,0.4349999930158833],"tcp_quaternion_wxyz":[-1.3291391670913307e-09,0.7071067813106038,0.7071067810624909,3.0880395281128625e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,7.034682302194482e-17,-6.683502900797234e-17,-1.992064073328155e-07],"object_linear_velocity_m_s":[1.0351147443561448e-16,1.9819511842166743e-16,5.360456373736779e-15],"object_angular_velocity_rad_s":[7.356872325336945e-15,6.190929117116546e-16,-1.0245162085319934e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221316123,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235885763,-1.5920596013754928,1.3065911155034993,-1.3102027491968335,-1.5707950793437946,-0.41471399679425036,0.0],"actuator_force":[5.6628778111189604e-08,-19.80784360571033,-20.288584493758663,-2.4133469411374335,0.0006237159859665553,-1.1463612281659152e-09,-0.2933611125997647],"issued_joint_targets_rad":[-1.9855103235867986,-1.5821556795686453,1.3167354080813372,-1.3053760554611555,-1.5707963267784746,-0.4147139967924306],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.19999999999757,"joint_targets_rad":[-1.9855103235867986,-1.5821556795686453,1.3167354080813372,-1.3053760554611555,-1.5707963267784746,-0.4147139967924306],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.219999999997558,"qpos":[-1.9855103241147358,-1.5821556880633314,1.316735434658371,-1.3053760795018212,-1.5707963265757852,-0.41471399699955985,0.0029336111595913,0.00015630155743686999,0.0031934794615859777,-0.0034292989311018687,0.002933611063821428,0.000156301109215443,0.0031978493791072703,-0.0034379968784462463,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999811,7.495724242630038e-17,-4.665794020491817e-17,-1.9959503073467327e-07],"qvel":[2.5093768085201635e-09,4.253137357410931e-08,-1.3450421295453223e-07,1.2098835808045243e-07,-1.0107231697169903e-09,1.0461370818411912e-09,6.753718516308496e-11,4.002262096942026e-10,-2.050857650622039e-10,-8.639427284474923e-11,1.9896236104638893e-10,-2.5122481857089066e-10,3.345967734071282e-10,-1.0752258452855134e-10,5.859239590988874e-17,8.948359875187195e-17,5.370170825202248e-15,-2.7049649621092046e-15,2.4932174538531954e-15,-1.1099794125966623e-08],"joint_position_rad":[-1.9855103241147358,-1.5821556880633314,1.316735434658371,-1.3053760795018212,-1.5707963265757852,-0.41471399699955985],"joint_velocity_rad_s":[2.5093768085201635e-09,4.253137357410931e-08,-1.3450421295453223e-07,1.2098835808045243e-07,-1.0107231697169903e-09,1.0461370818411912e-09],"linkage_position_rad":[0.0029336111595913,0.00015630155743686999,0.0031934794615859777,-0.0034292989311018687,0.002933611063821428,0.000156301109215443,0.0031978493791072703,-0.0034379968784462463],"tcp_position_m":[0.06812348622417749,0.48730461871457637,0.4349999936899511],"tcp_quaternion_wxyz":[-1.2091397702287721e-09,0.7071067812997832,0.7071067810733115,2.8086951811753902e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999811,7.495724242630038e-17,-4.665794020491817e-17,-1.9959503073467327e-07],"object_linear_velocity_m_s":[5.859239590988874e-17,8.948359875187195e-17,5.370170825202248e-15],"object_angular_velocity_rad_s":[-2.7049639658055786e-15,2.4932185353121513e-15,-1.1099794125966644e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221314314,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235867986,-1.5920596013731951,1.3065911154817558,-1.3102027491678179,-1.5707950793455723,-0.41471399679242277,0.0],"actuator_force":[5.2123596105957404e-08,-19.807843632277127,-20.288584551545227,-2.4133469318340985,0.0006237161787794321,-1.045179942593677e-09,-0.2933611125031341],"issued_joint_targets_rad":[-1.9855103235851888,-1.5821556795541203,1.3167354080569282,-1.3053760554367229,-1.5707963267800211,-0.4147139967907732],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.219999999997558,"joint_targets_rad":[-1.9855103235851888,-1.5821556795541203,1.3167354080569282,-1.3053760554367229,-1.5707963267800211,-0.4147139967907732],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.239999999997547,"qpos":[-1.9855103240667746,-1.5821556872545648,1.3167354321038445,-1.3053760772030825,-1.5707963265952078,-0.41471399697955563,0.002933611160901919,0.00015630155805763948,0.0031934794616666653,-0.003429298932041426,0.0029336110645398713,0.00015630110908037412,0.003197849379922524,-0.00343799687965509,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,7.92869980974522e-17,-1.8327430187698015e-17,-2.000359520346123e-07],"qvel":[2.2845708942993657e-09,3.855775291814828e-08,-1.2169979752964482e-07,1.095314729798016e-07,-9.499473649544357e-10,9.534432775496556e-10,-1.8256233710109546e-09,-1.0123777214677855e-08,9.627137033329233e-09,8.569501692313472e-10,1.228528967815636e-09,6.331744097253025e-09,-6.291947837528399e-09,-4.35701026904954e-10,2.504060163851451e-17,9.944949587102631e-17,6.10291802145485e-15,-1.884662803243374e-15,2.0503980682221997e-15,-2.0265421026896153e-08],"joint_position_rad":[-1.9855103240667746,-1.5821556872545648,1.3167354321038445,-1.3053760772030825,-1.5707963265952078,-0.41471399697955563],"joint_velocity_rad_s":[2.2845708942993657e-09,3.855775291814828e-08,-1.2169979752964482e-07,1.095314729798016e-07,-9.499473649544357e-10,9.534432775496556e-10],"linkage_position_rad":[0.002933611160901919,0.00015630155805763948,0.0031934794616666653,-0.003429298932041426,0.0029336110645398713,0.00015630110908037412,0.003197849379922524,-0.00343799687965509],"tcp_position_m":[0.06812348621451556,0.48730461873665376,0.43499999429893166],"tcp_quaternion_wxyz":[-1.0999287902005856e-09,0.707106781289899,0.7071067810831957,2.55450296704673e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,7.92869980974522e-17,-1.8327430187698015e-17,-2.000359520346123e-07],"object_linear_velocity_m_s":[2.504060163851451e-17,9.944949587102631e-17,6.10291802145485e-15],"object_angular_velocity_rad_s":[-1.884661982193737e-15,2.0503988254362406e-15,-2.0265421026896153e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221314755,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235851888,-1.592059601371144,1.3065911154620702,-1.3102027491415433,-1.5707950793471839,-0.4147139967907661,0.0],"actuator_force":[4.934372554998845e-08,-19.807843656259593,-20.288584603629715,-2.413346922377741,0.0006237190067395204,-9.495408903603675e-10,-0.2933611082866175],"issued_joint_targets_rad":[-1.9855103235837304,-1.582155679540971,1.3167354080348326,-1.3053760554146057,-1.5707963267814218,-0.41471399678927284],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.239999999997547,"joint_targets_rad":[-1.9855103235837304,-1.582155679540971,1.3167354080348326,-1.3053760554146057,-1.5707963267814218,-0.41471399678927284],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.259999999997536,"qpos":[-1.9855103240230079,-1.5821556865213635,1.3167354297925267,-1.3053760751217902,-1.5707963266128961,-0.4147139969613242,0.0029336111644358846,0.0001563015712655395,0.0031934794496402815,-0.0034292989333364983,0.002933611063526625,0.00015630110122685144,0.003197849388037934,-0.0034379968802057794,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,8.558413484580355e-17,-1.2405222892267769e-17,-2.004674552298232e-07],"qvel":[2.0908469237636577e-09,3.4955078115873534e-08,-1.1011118601508975e-07,9.918145405408395e-08,-8.401029451547978e-10,8.689676637640313e-10,9.193726794206064e-10,4.228374523821454e-09,-4.183144564649635e-09,-2.424822066259522e-10,-7.330196523359672e-10,-2.6198619518444365e-09,2.5408086336214368e-09,1.5850925218309148e-10,2.2376557422201915e-17,1.2915680575756124e-16,6.315248174914411e-15,-1.0065973107043716e-16,2.587105140857001e-16,-3.699954113893028e-08],"joint_position_rad":[-1.9855103240230079,-1.5821556865213635,1.3167354297925267,-1.3053760751217902,-1.5707963266128961,-0.4147139969613242],"joint_velocity_rad_s":[2.0908469237636577e-09,3.4955078115873534e-08,-1.1011118601508975e-07,9.918145405408395e-08,-8.401029451547978e-10,8.689676637640313e-10],"linkage_position_rad":[0.0029336111644358846,0.0001563015712655395,0.0031934794496402815,-0.0034292989333364983,0.002933611063526625,0.00015630110122685144,0.003197849388037934,-0.0034379968802057794],"tcp_position_m":[0.068123486205631,0.4873046187566701,0.43499999484911256],"tcp_quaternion_wxyz":[-1.000546742560658e-09,0.7071067812808708,0.7071067810922239,2.3232067245240983e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,8.558413484580355e-17,-1.2405222892267769e-17,-2.004674552298232e-07],"object_linear_velocity_m_s":[2.2376557422201915e-17,1.2915680575756124e-16,6.315248174914411e-15],"object_angular_velocity_rad_s":[-1.006596264263759e-16,2.587105607768269e-16,-3.699954113893029e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221352246,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235837304,-1.592059601369313,1.306591115444247,-1.3102027491177501,-1.5707950793486434,-0.41471399678926635,0.0],"actuator_force":[4.2216470319544896e-08,-19.807843677930123,-20.288584652084865,-2.4133469161254197,0.0006237161366016153,-8.67828475747956e-10,-0.2933611123298906],"issued_joint_targets_rad":[-1.9855103235824096,-1.5821556795290685,1.3167354080148321,-1.3053760553945846,-1.5707963267826903,-0.4147139967879127],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.259999999997536,"joint_targets_rad":[-1.9855103235824096,-1.5821556795290685,1.3167354080148321,-1.3053760553945846,-1.5707963267826903,-0.4147139967879127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.279999999997525,"qpos":[-1.9855103239830787,-1.5821556858566754,1.316735427701258,-1.305376073237395,-1.5707963266290497,-0.4147139969447093,0.00293361116346175,0.0001563015610823357,0.0031934794601980103,-0.0034292989334450898,0.0029336110660179836,0.0001563011073971161,0.003197849383166613,-0.0034379968818323194,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,8.352847700803952e-17,-1.4178850391199156e-17,-2.0086403461014934e-07],"qvel":[1.9076909563988582e-09,3.1688612865530236e-08,-9.962814780229162e-08,8.979994605696352e-08,-7.632716821777367e-10,7.919257034482644e-10,4.4190838409075937e-10,2.521381018047245e-09,-2.2950423559398664e-09,-2.9011893987418403e-10,-1.7775842292030333e-10,-1.5696306749853898e-09,1.5470539731360347e-09,5.997094394428317e-11,3.092285420738979e-17,1.537163136764995e-16,6.401290459322862e-15,2.314086981291073e-15,-1.0545308167370359e-15,-6.75518185718687e-08],"joint_position_rad":[-1.9855103239830787,-1.5821556858566754,1.316735427701258,-1.305376073237395,-1.5707963266290497,-0.4147139969447093],"joint_velocity_rad_s":[1.9076909563988582e-09,3.1688612865530236e-08,-9.962814780229162e-08,8.979994605696352e-08,-7.632716821777367e-10,7.919257034482644e-10],"linkage_position_rad":[0.00293361116346175,0.0001563015610823357,0.0031934794601980103,-0.0034292989334450898,0.0029336110660179836,0.0001563011073971161,0.003197849383166613,-0.0034379968818323194],"tcp_position_m":[0.06812348619747939,0.48730461877481585,0.43499999534617695],"tcp_quaternion_wxyz":[-9.100962055004754e-10,0.707106781272628,0.7071067811004667,2.1127727591695266e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,8.352847700803952e-17,-1.4178850391199156e-17,-2.0086403461014934e-07],"object_linear_velocity_m_s":[3.092285420738979e-17,1.537163136764995e-16,6.401290459322862e-15],"object_angular_velocity_rad_s":[2.314086559571875e-15,-1.0545317350856457e-15,-6.755181857186873e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322131327,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235824096,-1.5920596013676793,1.3065911154281113,-1.3102027490962038,-1.5707950793499654,-0.4147139967879068,0.0],"actuator_force":[3.826153260888532e-08,-19.80784369745288,-20.288584695033933,-2.413346909399138,0.0006237158693238598,-7.913456556707388e-10,-0.2933611127947365],"issued_joint_targets_rad":[-1.9855103235812137,-1.5821556795182934,1.316735407996727,-1.3053760553764615,-1.5707963267838394,-0.4147139967866816],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.279999999997525,"joint_targets_rad":[-1.9855103235812137,-1.5821556795182934,1.316735407996727,-1.3053760553764615,-1.5707963267838394,-0.4147139967866816],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.299999999997514,"qpos":[-1.9855103239466458,-1.5821556852541045,1.3167354258090889,-1.305376071531261,-1.570796326643779,-0.41471399692956834,0.0029336111628539816,0.00015630155438961366,0.0031934794677665585,-0.003429298934433813,0.0029336110678783995,0.00015630111155496974,0.003197849379383298,-0.003437996882719197,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,6.850613558601946e-17,-1.4131790978428913e-17,-2.0112027474882605e-07],"qvel":[1.7376550617979164e-09,2.8727083360568833e-08,-9.014430222045494e-08,8.13007696076726e-08,-7.046195210540221e-10,7.216652479778387e-10,-7.219394249344193e-10,-3.766181815709434e-09,3.810021070595566e-09,2.0926552845720792e-10,7.497567707489351e-10,2.332557522539502e-09,-2.1991948753184546e-09,-2.420437825410568e-10,1.6179359565003078e-17,8.424081513260512e-17,6.5317416647163166e-15,-3.266635580231294e-15,4.3507387523942784e-16,-7.318686349108939e-09],"joint_position_rad":[-1.9855103239466458,-1.5821556852541045,1.3167354258090889,-1.305376071531261,-1.570796326643779,-0.41471399692956834],"joint_velocity_rad_s":[1.7376550617979164e-09,2.8727083360568833e-08,-9.014430222045494e-08,8.13007696076726e-08,-7.046195210540221e-10,7.216652479778387e-10],"linkage_position_rad":[0.0029336111628539816,0.00015630155438961366,0.0031934794677665585,-0.003429298934433813,0.0029336110678783995,0.00015630111155496974,0.003197849379383298,-0.003437996882719197],"tcp_position_m":[0.06812348618999145,0.48730461879126563,0.43499999579525284],"tcp_quaternion_wxyz":[-8.277861517987011e-10,0.7071067812651003,0.7071067811079944,1.921318488471817e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,6.850613558601946e-17,-1.4131790978428913e-17,-2.0112027474882605e-07],"object_linear_velocity_m_s":[1.6179359565003078e-17,8.424081513260512e-17,6.5317416647163166e-15],"object_angular_velocity_rad_s":[-3.2666354050198247e-15,4.3507519021543347e-16,-7.318686349108942e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221289861,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235812137,-1.5920596013662212,1.3065911154135021,-1.3102027490766934,-1.5707950793511636,-0.4147139967866762,0.0],"actuator_force":[3.580225893529132e-08,-19.80784371506661,-20.288584733452353,-2.413346902793137,0.0006237167696099277,-7.204619123513112e-10,-0.2933611116757058],"issued_joint_targets_rad":[-1.98551032358013,-1.5821556795085383,1.3167354079803362,-1.3053760553600546,-1.570796326784881,-0.41471399678556553],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.299999999997514,"joint_targets_rad":[-1.98551032358013,-1.5821556795085383,1.3167354079803362,-1.3053760553600546,-1.570796326784881,-0.41471399678556553],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.319999999997503,"qpos":[-1.9855103239133984,-1.5821556847078508,1.316735424097063,-1.3053760699865107,-1.5707963266571725,-0.4147139969157709,0.002933611167781764,0.00015630157562010846,0.0031934794475569103,-0.003429298935960656,0.002933611065061963,0.00015630109863571057,0.003197849392050523,-0.0034379968825516845,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,1.0378277981306154e-16,-1.6235298911559664e-18,-2.015881045333556e-07],"qvel":[1.5881981261679598e-09,2.604212364021232e-08,-8.156103911393867e-08,7.361281065084225e-08,-6.370110768594864e-10,6.576173379294883e-10,1.0114037883829746e-09,4.391280810534117e-09,-4.4233289257802194e-09,-1.872562617551225e-10,-8.873420357247346e-10,-2.7348610329565197e-09,2.6390454217436043e-09,1.8899846828443142e-10,3.1727353271322422e-18,1.2704232296055035e-16,6.613620612782424e-15,-2.6522687592361947e-15,5.861348537740567e-16,-1.3362073074987384e-08],"joint_position_rad":[-1.9855103239133984,-1.5821556847078508,1.316735424097063,-1.3053760699865107,-1.5707963266571725,-0.4147139969157709],"joint_velocity_rad_s":[1.5881981261679598e-09,2.604212364021232e-08,-8.156103911393867e-08,7.361281065084225e-08,-6.370110768594864e-10,6.576173379294883e-10],"linkage_position_rad":[0.002933611167781764,0.00015630157562010846,0.0031934794475569103,-0.003429298935960656,0.002933611065061963,0.00015630109863571057,0.003197849392050523,-0.0034379968825516845],"tcp_position_m":[0.06812348618310105,0.4873046188061778,0.4349999962009722],"tcp_quaternion_wxyz":[-7.529011124258286e-10,0.7071067812582235,0.7071067811148712,1.7471254088338341e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,1.0378277981306154e-16,-1.6235298911559664e-18,-2.015881045333556e-07],"object_linear_velocity_m_s":[3.1727353271322422e-18,1.2704232296055035e-16,6.613620612782424e-15],"object_angular_velocity_rad_s":[-2.6522685228769646e-15,5.861359258791794e-16,-1.3362073074987393e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221354422,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551032358013,-1.5920596013649193,1.3065911154002736,-1.3102027490590242,-1.5707950793522503,-0.41471399678556065,0.0],"actuator_force":[3.1257968657882884e-08,-19.80784373098595,-20.288584769163208,-2.413346897537849,0.0006237161622948406,-6.566267529706238e-10,-0.2933611122624951],"issued_joint_targets_rad":[-1.9855103235791483,-1.5821556794997078,1.3167354079654998,-1.3053760553452034,-1.570796326785824,-0.4147139967845541],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.319999999997503,"joint_targets_rad":[-1.9855103235791483,-1.5821556794997078,1.3167354079654998,-1.3053760553452034,-1.570796326785824,-0.4147139967845541],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.339999999997492,"qpos":[-1.985510323883077,-1.5821556842126565,1.3167354225480217,-1.3053760685879083,-1.5707963266694123,-0.4147139969031986,0.002933611167686163,0.00015630156887196908,0.0031934794534214097,-0.003429298934518497,0.0029336110662543913,0.00015630110306294188,0.003197849389169093,-0.0034379968844341123,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,1.3658992117713953e-16,1.7783747443865726e-18,-2.0205813092520466e-07],"qvel":[1.4492996446860896e-09,2.360780806415431e-08,-7.379619850125319e-08,6.665023495233383e-08,-5.776013556106807e-10,5.992317135185199e-10,6.112088813415292e-10,3.3713478668986995e-09,-3.183559328641051e-09,-3.487120842675557e-10,-4.096880760878661e-10,-2.122755159438004e-09,2.0317473800550444e-09,1.554169726322005e-10,-7.172575285636328e-19,1.7677414281358567e-16,6.678846215479155e-15,-1.5675626052234852e-15,8.370494493468398e-17,-2.439577109122107e-08],"joint_position_rad":[-1.985510323883077,-1.5821556842126565,1.3167354225480217,-1.3053760685879083,-1.5707963266694123,-0.4147139969031986],"joint_velocity_rad_s":[1.4492996446860896e-09,2.360780806415431e-08,-7.379619850125319e-08,6.665023495233383e-08,-5.776013556106807e-10,5.992317135185199e-10],"linkage_position_rad":[0.002933611167686163,0.00015630156887196908,0.0031934794534214097,-0.003429298934518497,0.0029336110662543913,0.00015630110306294188,0.003197849389169093,-0.0034379968844341123],"tcp_position_m":[0.06812348617678797,0.4873046188196956,0.4349999965675293],"tcp_quaternion_wxyz":[-6.84752610028065e-10,0.7071067812519483,0.7071067811211464,1.58867247857522e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,1.3658992117713953e-16,1.7783747443865726e-18,-2.0205813092520466e-07],"object_linear_velocity_m_s":[-7.172575285636328e-19,1.7677414281358567e-16,6.678846215479155e-15],"object_angular_velocity_rad_s":[-1.5675625714835976e-15,8.370558507665037e-17,-2.4395771091221093e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322133232,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235791483,-1.592059601363758,1.3065911153882976,-1.3102027490430246,-1.570795079353234,-0.4147139967845497,0.0],"actuator_force":[2.8137492336099967e-08,-19.80784374532641,-20.288584800968692,-2.4133468925816715,0.0006237158494286632,-5.987033091514604e-10,-0.2933611127046317],"issued_joint_targets_rad":[-1.9855103235782594,-1.5821556794917144,1.316735407952071,-1.3053760553317608,-1.5707963267866785,-0.4147139967836386],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.339999999997492,"joint_targets_rad":[-1.9855103235782594,-1.5821556794917144,1.316735407952071,-1.3053760553317608,-1.5707963267866785,-0.4147139967836386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.35999999999748,"qpos":[-1.9855103238554155,-1.582155683763753,1.3167354211464515,-1.305376067321616,-1.570796326680573,-0.4147139968917433,0.0029336111655567853,0.00015630155741528265,0.003193479466169045,-0.0034292989359900653,0.0029336110692761664,0.00015630110999309045,0.0031978493825070785,-0.0034379968849495186,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,1.2137915547039565e-16,3.127943133794808e-18,-2.0245698494844748e-07],"qvel":[1.3209532445426342e-09,2.1400809049663655e-08,-6.67713660152362e-08,6.03444508560056e-08,-5.267656100454986e-10,5.460014698823477e-10,-3.256066850160779e-11,2.2564603732462824e-10,7.58037615762948e-12,-1.527281209518427e-10,2.4324248826498774e-10,-1.5975075451132475e-10,2.0183977777488749e-10,-4.008626929908874e-11,-3.9011822864019e-18,1.750760626054252e-16,6.5081494254430416e-15,-1.3381465626868288e-15,2.653491651459817e-16,-4.454051731309495e-08],"joint_position_rad":[-1.9855103238554155,-1.582155683763753,1.3167354211464515,-1.305376067321616,-1.570796326680573,-0.4147139968917433],"joint_velocity_rad_s":[1.3209532445426342e-09,2.1400809049663655e-08,-6.67713660152362e-08,6.03444508560056e-08,-5.267656100454986e-10,5.460014698823477e-10],"linkage_position_rad":[0.0029336111655567853,0.00015630155741528265,0.003193479466169045,-0.0034292989359900653,0.0029336110692761664,0.00015630110999309045,0.0031978493825070785,-0.0034379968849495186],"tcp_position_m":[0.06812348617099256,0.48730461883194875,0.43499999689870195],"tcp_quaternion_wxyz":[-6.22745320371415e-10,0.7071067812462186,0.7071067811268761,1.4445319062095197e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,1.2137915547039565e-16,3.127943133794808e-18,-2.0245698494844748e-07],"object_linear_velocity_m_s":[-3.9011822864019e-18,1.750760626054252e-16,6.5081494254430416e-15],"object_angular_velocity_rad_s":[-1.338146455521775e-15,2.6534971779277805e-16,-4.4540517313095e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221291073,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235782594,-1.5920596013627226,1.3065911153774563,-1.3102027490285373,-1.5707950793541252,-0.4147139967836346,0.0],"actuator_force":[2.5930603442247957e-08,-19.80784375826306,-20.288584829443607,-2.413346887905732,0.0006237159004740533,-5.457820861920482e-10,-0.29336111279505667],"issued_joint_targets_rad":[-1.9855103235774545,-1.5821556794844778,1.3167354079399136,-1.3053760553195914,-1.5707963267874525,-0.414713996782809],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.35999999999748,"joint_targets_rad":[-1.9855103235774545,-1.5821556794844778,1.3167354079399136,-1.3053760553195914,-1.5707963267874525,-0.414713996782809],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.37999999999747,"qpos":[-1.9855103238301803,-1.5821556833568178,1.3167354198783114,-1.3053760661751128,-1.5707963266907379,-0.4147139968813061,0.00293361116560496,0.00015630155654256967,0.0031934794682316244,-0.0034292989374705607,0.002933611070181649,0.00015630111053816477,0.0031978493818222093,-0.0034379968850992717,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,1.0374417183318954e-16,8.119558557215264e-18,-2.0280807313739218e-07],"qvel":[1.1993313484190267e-09,1.939993031595302e-08,-6.041628622337488e-08,5.46234832302863e-08,-5.096088403150873e-10,4.974452278076555e-10,-1.927963917367825e-09,-1.0484891237949176e-08,9.976120888487315e-09,8.923268670994566e-10,1.2717145533886924e-09,6.633527955830558e-09,-6.622233450949553e-09,-4.2325075182033454e-10,-2.6620666033317288e-17,2.0772563245610393e-16,5.891975646776078e-15,4.230828310843429e-15,1.6552982506046365e-15,-8.131973673223059e-08],"joint_position_rad":[-1.9855103238301803,-1.5821556833568178,1.3167354198783114,-1.3053760661751128,-1.5707963266907379,-0.4147139968813061],"joint_velocity_rad_s":[1.1993313484190267e-09,1.939993031595302e-08,-6.041628622337488e-08,5.46234832302863e-08,-5.096088403150873e-10,4.974452278076555e-10],"linkage_position_rad":[0.00293361116560496,0.00015630155654256967,0.0031934794682316244,-0.0034292989374705607,0.002933611070181649,0.00015630111053816477,0.0031978493818222093,-0.0034379968850992717],"tcp_position_m":[0.06812348616566917,0.48730461884305526,0.4349999971979073],"tcp_quaternion_wxyz":[-5.663329126951541e-10,0.7071067812409868,0.7071067811321079,1.313412776338572e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,1.0374417183318954e-16,8.119558557215264e-18,-2.0280807313739218e-07],"object_linear_velocity_m_s":[-2.6620666033317288e-17,2.0772563245610393e-16,5.891975646776078e-15],"object_angular_velocity_rad_s":[4.2308289809382265e-15,1.655296551385125e-15,-8.131973673223068e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221285881,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235774545,-1.5920596013617985,1.3065911153676393,-1.3102027490154176,-1.5707950793549332,-0.41471399678280535,0.0],"actuator_force":[2.571914592408575e-08,-19.807843769933697,-20.288584854829878,-2.4133468825007185,0.0006237188632667312,-4.941398401570041e-10,-0.2933611085080836],"issued_joint_targets_rad":[-1.985510323576725,-1.5821556794779272,1.3167354079289095,-1.3053760553085756,-1.5707963267881535,-0.41471399678205745],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.37999999999747,"joint_targets_rad":[-1.985510323576725,-1.5821556794779272,1.3167354079289095,-1.3053760553085756,-1.5707963267881535,-0.41471399678205745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.399999999997458,"qpos":[-1.9855103238071592,-1.5821556829879317,1.316735418730896,-1.3053760651370634,-1.5707963266999818,-0.4147139968717967,0.0029336111686134236,0.0001563015699111022,0.0031934794558046227,-0.003429298938389343,0.0029336110687079612,0.00015630110240854596,0.0031978493897407835,-0.0034379968850708677,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,8.847068343706346e-17,1.1607673431953214e-17,-2.0311653826916732e-07],"qvel":[1.1003447438111267e-09,1.7586017579288835e-08,-5.4662772726017513e-08,4.946769613686788e-08,-4.374914849864309e-10,4.5324047603888857e-10,9.274703694782618e-10,4.369758823580895e-09,-4.343593389273666e-09,-2.2830174222907866e-10,-7.870726546691237e-10,-2.7405294032372525e-09,2.640843221765802e-09,1.922003325692449e-10,-1.2925301126478198e-17,1.0783850563388616e-16,5.80870891992919e-15,-3.8098974883859664e-15,-3.4517347422826025e-16,-8.810327533997174e-09],"joint_position_rad":[-1.9855103238071592,-1.5821556829879317,1.316735418730896,-1.3053760651370634,-1.5707963266999818,-0.4147139968717967],"joint_velocity_rad_s":[1.1003447438111267e-09,1.7586017579288835e-08,-5.4662772726017513e-08,4.946769613686788e-08,-4.374914849864309e-10,4.5324047603888857e-10],"linkage_position_rad":[0.0029336111686134236,0.0001563015699111022,0.0031934794558046227,-0.003429298938389343,0.0029336110687079612,0.00015630110240854596,0.0031978493897407835,-0.0034379968850708677],"tcp_position_m":[0.06812348616077601,0.4873046188531224,0.43499999746823304],"tcp_quaternion_wxyz":[-5.150189297928429e-10,0.7071067812362096,0.7071067811368851,1.1941405786408966e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,8.847068343706346e-17,1.1607673431953214e-17,-2.0311653826916732e-07],"object_linear_velocity_m_s":[-1.2925301126478198e-17,1.0783850563388616e-16,5.80870891992919e-15],"object_angular_velocity_rad_s":[-3.809897628811074e-15,-3.4517192496294276e-16,-8.810327533997185e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221324747,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323576725,-1.5920596013609747,1.3065911153587524,-1.3102027490035373,-1.570795079355665,-0.4147139967820541,0.0],"actuator_force":[2.073056748486124e-08,-19.807843780493386,-20.28858487917796,-2.4133468800066566,0.0006237159075226373,-4.5272940951690543e-10,-0.2933611125680578],"issued_joint_targets_rad":[-1.9855103235760645,-1.582155679471998,1.3167354079189486,-1.305376055298604,-1.570796326788788,-0.4147139967813765],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.399999999997458,"joint_targets_rad":[-1.9855103235760645,-1.582155679471998,1.3167354079189486,-1.305376055298604,-1.570796326788788,-0.4147139967813765],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.419999999997447,"qpos":[-1.9855103237861687,-1.58215568265354,1.3167354176927095,-1.3053760641972294,-1.570796326708435,-0.4147139968631331,0.002933611167068377,0.0001563015592976911,0.003193479466349479,-0.0034292989380026824,0.0029336110708624926,0.00015630110907681515,0.003197849384008699,-0.003437996886223226,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,7.677004311715768e-17,4.9787609766003816e-17,-2.0361723228713346e-07],"qvel":[1.003505007139456e-09,1.5941482016309158e-08,-4.94592177359671e-08,4.4788774272088945e-08,-3.959499783832711e-10,4.129276444586213e-10,4.3325075283597085e-10,2.608616689745922e-09,-2.3974597743818476e-09,-2.7685052560448497e-10,-2.1080918466508326e-10,-1.6482437333406261e-09,1.6103704433170598e-09,9.257128609707409e-11,-5.60157176613479e-17,9.467729760267551e-17,6.809297420872612e-15,-3.066534674740927e-15,-3.4924022892717416e-16,-1.608543319228196e-08],"joint_position_rad":[-1.9855103237861687,-1.58215568265354,1.3167354176927095,-1.3053760641972294,-1.570796326708435,-0.4147139968631331],"joint_velocity_rad_s":[1.003505007139456e-09,1.5941482016309158e-08,-4.94592177359671e-08,4.4788774272088945e-08,-3.959499783832711e-10,4.129276444586213e-10],"linkage_position_rad":[0.002933611167068377,0.0001563015592976911,0.003193479466349479,-0.0034292989380026824,0.0029336110708624926,0.00015630110907681515,0.003197849384008699,-0.003437996886223226],"tcp_position_m":[0.06812348615629735,0.4873046188622466,0.43499999771246983],"tcp_quaternion_wxyz":[-4.683263376557828e-10,0.7071067812318513,0.7071067811412431,1.08566794511704e-09],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,7.677004311715768e-17,4.9787609766003816e-17,-2.0361723228713346e-07],"object_linear_velocity_m_s":[-5.60157176613479e-17,9.467729760267551e-17,6.809297420872612e-15],"object_angular_velocity_rad_s":[-3.066534818565045e-15,-3.4923897765878026e-16,-1.6085433192281985e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221289284,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235760645,-1.5920596013602406,1.3065911153507066,-1.3102027489927794,-1.5707950793563275,-0.41471399678137344,0.0],"actuator_force":[1.8806076695909724e-08,-19.807843789993967,-20.28858490031871,-2.4133468766523265,0.0006237156487713946,-4.129390163143398e-10,-0.2933611130087513],"issued_joint_targets_rad":[-1.9855103235754663,-1.5821556794666296,1.3167354079099314,-1.3053760552895777,-1.5707963267893634,-0.41471399678075943],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.419999999997447,"joint_targets_rad":[-1.9855103235754663,-1.5821556794666296,1.3167354079099314,-1.3053760552895777,-1.5707963267893634,-0.41471399678075943],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.439999999997436,"qpos":[-1.9855103237670233,-1.5821556823504195,1.3167354167533547,-1.305376063346308,-1.5707963267161422,-0.4147139968552405,0.0029336111659922083,0.00015630155230783393,0.00319347947381922,-0.003429298938597275,0.0029336110723711573,0.00015630111347101727,0.0031978493797552225,-0.003437996886643416,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,6.335163159334419e-17,7.862813322550985e-17,-2.040590370034397e-07],"qvel":[9.122005836843496e-10,1.4450590056684988e-08,-4.475212071096032e-08,4.0547197453105616e-08,-3.700019084104241e-10,3.761743505879036e-10,-7.728922481262229e-10,-3.904597636655979e-09,3.9273748294205e-09,2.380344134866585e-10,7.615711648320546e-10,2.4543658373941773e-09,-2.3341818412685797e-09,-2.3119863002339221e-10,-1.0543514451962783e-16,8.580527360388784e-17,7.0257909106745155e-15,-1.69332325992925e-15,4.360166947154339e-16,-2.9367938931322253e-08],"joint_position_rad":[-1.9855103237670233,-1.5821556823504195,1.3167354167533547,-1.305376063346308,-1.5707963267161422,-0.4147139968552405],"joint_velocity_rad_s":[9.122005836843496e-10,1.4450590056684988e-08,-4.475212071096032e-08,4.0547197453105616e-08,-3.700019084104241e-10,3.761743505879036e-10],"linkage_position_rad":[0.0029336111659922083,0.00015630155230783393,0.00319347947381922,-0.003429298938597275,0.0029336110723711573,0.00015630111347101727,0.0031978493797552225,-0.003437996886643416],"tcp_position_m":[0.06812348615218845,0.48730461887051646,0.43499999793313493],"tcp_quaternion_wxyz":[-4.25848946597489e-10,0.707106781227873,0.7071067811452215,9.870111294485927e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,6.335163159334419e-17,7.862813322550985e-17,-2.040590370034397e-07],"object_linear_velocity_m_s":[-1.0543514451962783e-16,8.580527360388784e-17,7.0257909106745155e-15],"object_angular_velocity_rad_s":[-1.6933230866011097e-15,4.3601738951224046e-16,-2.9367938931322306e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221267355,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235754663,-1.5920596013595854,1.3065911153434218,-1.310202748983038,-1.5707950793569285,-0.41471399678075666,0.0],"actuator_force":[1.8233549781143665e-08,-19.80784379856732,-20.288584919017467,-2.41334687308472,0.0006237166070377498,-3.7550762499449775e-10,-0.29336111186156283],"issued_joint_targets_rad":[-1.9855103235749245,-1.5821556794617702,1.3167354079017688,-1.3053760552814069,-1.5707963267898846,-0.41471399678020016],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.439999999997436,"joint_targets_rad":[-1.9855103235749245,-1.5821556794617702,1.3167354079017688,-1.3053760552814069,-1.5707963267898846,-0.41471399678020016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.459999999997425,"qpos":[-1.9855103237495544,-1.5821556820756488,1.3167354159034241,-1.3053760625758724,-1.5707963267231306,-0.4147139968480506,0.0029336111707192656,0.0001563015742725873,0.0031934794525528415,-0.003429298939792176,0.0029336110690246927,0.00015630109984457393,0.0031978493928770534,-0.0034379968860461328,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,4.633226995424051e-17,7.76591042244677e-17,-2.044778348906009e-07],"qvel":[8.348949763731459e-10,1.3099052200238091e-08,-4.049067436610806e-08,3.671439390714451e-08,-3.316229427798658e-10,3.426864535550578e-10,1.03445996697046e-09,4.551638013390822e-09,-4.600233326440607e-09,-1.7740368526186975e-10,-9.44584575218891e-10,-2.875759421582802e-09,2.7654778328348637e-09,2.1552822576017604e-10,-1.1734342867166956e-16,6.907584194437454e-17,7.124323204109995e-15,-1.1685780769004124e-15,1.5968849784794558e-16,-5.361844016035553e-08],"joint_position_rad":[-1.9855103237495544,-1.5821556820756488,1.3167354159034241,-1.3053760625758724,-1.5707963267231306,-0.4147139968480506],"joint_velocity_rad_s":[8.348949763731459e-10,1.3099052200238091e-08,-4.049067436610806e-08,3.671439390714451e-08,-3.316229427798658e-10,3.426864535550578e-10],"linkage_position_rad":[0.0029336111707192656,0.0001563015742725873,0.0031934794525528415,-0.003429298939792176,0.0029336110690246927,0.00015630109984457393,0.0031978493928770534,-0.0034379968860461328],"tcp_position_m":[0.06812348614840487,0.48730461887801185,0.4349999981325012],"tcp_quaternion_wxyz":[-3.8722236218599987e-10,0.7071067812242388,0.7071067811488557,8.972705923896022e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,4.633226995424051e-17,7.76591042244677e-17,-2.044778348906009e-07],"object_linear_velocity_m_s":[-1.1734342867166956e-16,6.907584194437454e-17,7.124323204109995e-15],"object_angular_velocity_rad_s":[-1.1685780199227192e-15,1.5968898071309244e-16,-5.3618440160355624e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221334017,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235749245,-1.5920596013590016,1.3065911153368261,-1.3102027489742167,-1.5707950793574732,-0.41471399678019766,0.0],"actuator_force":[1.530179360997863e-08,-19.80784380632622,-20.288584936926327,-2.4133468706115764,0.000623715991082463,-3.4216895983263385e-10,-0.29336111243657487],"issued_joint_targets_rad":[-1.9855103235744336,-1.582155679457371,1.3167354078943798,-1.30537605527401,-1.5707963267903566,-0.4147139967796949],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.459999999997425,"joint_targets_rad":[-1.9855103235744336,-1.582155679457371,1.3167354078943798,-1.30537605527401,-1.5707963267903566,-0.4147139967796949],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.479999999997414,"qpos":[-1.9855103237336336,-1.5821556818265796,1.3167354151343984,-1.305376061878338,-1.5707963267295284,-0.4147139968415011,0.002933611168722254,0.00015630156302335677,0.0031934794638105936,-0.0034292989394116976,0.0029336110714953023,0.00015630110708764734,0.0031978493864452135,-0.003437996887089052,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999998,3.4689071477124096e-17,6.266518378436907e-17,-2.0477871848983735e-07],"qvel":[7.618527180675761e-10,1.1873759877264245e-08,-3.663613487347572e-08,3.324237386060813e-08,-2.9875070149803044e-10,3.1216371841797423e-10,7.274354130514592e-10,3.927732079359908e-09,-3.759845876642755e-09,-3.3163311266410677e-10,-5.496010129848094e-10,-2.4952995146581427e-09,2.380294954290713e-09,1.9775566839398667e-10,-1.3014816708496986e-16,1.020608078651567e-16,6.16814362415158e-15,3.3028891591635594e-15,2.537589195382935e-15,-9.789373139031105e-08],"joint_position_rad":[-1.9855103237336336,-1.5821556818265796,1.3167354151343984,-1.305376061878338,-1.5707963267295284,-0.4147139968415011],"joint_velocity_rad_s":[7.618527180675761e-10,1.1873759877264245e-08,-3.663613487347572e-08,3.324237386060813e-08,-2.9875070149803044e-10,3.1216371841797423e-10],"linkage_position_rad":[0.002933611168722254,0.00015630156302335677,0.0031934794638105936,-0.0034292989394116976,0.0029336110714953023,0.00015630110708764734,0.0031978493864452135,-0.003437996887089052],"tcp_position_m":[0.06812348614494773,0.48730461888480453,0.4349999983126315],"tcp_quaternion_wxyz":[-3.5207659368269204e-10,0.7071067812209255,0.707106781152169,8.156710589229067e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999998,3.4689071477124096e-17,6.266518378436907e-17,-2.0477871848983735e-07],"object_linear_velocity_m_s":[-1.3014816708496986e-16,1.020608078651567e-16,6.16814362415158e-15],"object_angular_velocity_rad_s":[3.30289018618276e-15,2.537587849451596e-15,-9.789373139031125e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221298092,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235744336,-1.592059601358481,1.3065911153308547,-1.310202748966228,-1.5707950793579664,-0.4147139967796926,0.0],"actuator_force":[1.3658791431225836e-08,-19.80784381330659,-20.2885849526333,-2.413346868182316,0.0006237156560473522,-3.120987912552664e-10,-0.2933611129000498],"issued_joint_targets_rad":[-1.985510323573989,-1.582155679453389,1.3167354078876914,-1.3053760552673146,-1.570796326790784,-0.414713996779236],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.479999999997414,"joint_targets_rad":[-1.985510323573989,-1.582155679453389,1.3167354078876914,-1.3053760552673146,-1.570796326790784,-0.414713996779236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.499999999997403,"qpos":[-1.985510323719116,-1.5821556816008098,1.3167354144385777,-1.3053760612467973,-1.5707963267353657,-0.4147139968355353,0.0029336111667718993,0.00015630155232236514,0.0031934794749527108,-0.0034292989396989848,0.002933611073688312,0.00015630111381585566,0.0031978493800034822,-0.003437996887617858,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,3.544764884849859e-17,5.2436768393860964e-17,-2.0515005273127352e-07],"qvel":[6.934873204838519e-10,1.0762964522523374e-08,-3.314932055926839e-08,3.009680314634529e-08,-2.7249823598236464e-10,2.843526503248495e-10,-3.9379958749230484e-11,2.7008193804378694e-10,-6.06239463241568e-11,-1.218133083456698e-10,2.2926312977866108e-10,-1.8746917730039902e-10,2.3369763059138287e-10,-3.431960829333611e-11,-6.534918096064463e-17,4.3042085208301735e-17,5.682421050878074e-15,-1.1811373502804734e-15,-2.309473421740741e-15,-1.060598412798435e-08],"joint_position_rad":[-1.985510323719116,-1.5821556816008098,1.3167354144385777,-1.3053760612467973,-1.5707963267353657,-0.4147139968355353],"joint_velocity_rad_s":[6.934873204838519e-10,1.0762964522523374e-08,-3.314932055926839e-08,3.009680314634529e-08,-2.7249823598236464e-10,2.843526503248495e-10],"linkage_position_rad":[0.0029336111667718993,0.00015630155232236514,0.0031934794749527108,-0.0034292989396989848,0.002933611073688312,0.00015630111381585566,0.0031978493800034822,-0.003437996887617858],"tcp_position_m":[0.06812348614177945,0.4873046188909604,0.43499999847537985],"tcp_quaternion_wxyz":[-3.201060974811849e-10,0.707106781217902,0.7071067811551927,7.414673947006388e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,3.544764884849859e-17,5.2436768393860964e-17,-2.0515005273127352e-07],"object_linear_velocity_m_s":[-6.534918096064463e-17,4.3042085208301735e-17,5.682421050878074e-15],"object_angular_velocity_rad_s":[-1.1811382989698492e-15,-2.3094729363678524e-15,-1.0605984127984348e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221263703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323573989,-1.5920596013580175,1.3065911153254486,-1.3102027489589947,-1.570795079358413,-0.41471399677923393,0.0],"actuator_force":[1.2858890841016546e-08,-19.807843819601658,-20.288584966529925,-2.41334686577909,0.0006237157261921311,-2.8458657652663533e-10,-0.2933611129724264],"issued_joint_targets_rad":[-1.9855103235735867,-1.5821556794497835,1.316735407881636,-1.3053760552612532,-1.5707963267911715,-0.4147139967788205],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.499999999997403,"joint_targets_rad":[-1.9855103235735867,-1.5821556794497835,1.316735407881636,-1.3053760552612532,-1.5707963267911715,-0.4147139967788205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.519999999997392,"qpos":[-1.9855103237058747,-1.5821556813961615,1.3167354138089942,-1.3053760606750013,-1.5707963267406793,-0.41471399683010124,0.00293361116938706,0.00015630156200626357,0.0031934794649395907,-0.0034292989395110743,0.0029336110713927502,0.00015630110796701038,0.0031978493854762807,-0.0034379968875059216,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,5.122208477036495e-17,4.537382296922113e-17,-2.0562525428788446e-07],"qvel":[6.26099161448871e-10,9.755960996493663e-09,-2.9995492195358597e-08,2.7236383827514988e-08,-2.7936988236806307e-10,2.58973817647888e-10,-2.0922956354442117e-09,-1.2087172099010693e-08,1.1343268617327082e-08,1.1834135157123897e-09,1.4094562480795991e-09,7.81191159929069e-09,-7.57411591248153e-09,-6.123757772934995e-10,-5.811042534290649e-17,6.420801022331746e-17,6.193123642205645e-15,-8.889433138459125e-16,-1.4895999954066444e-15,-1.936384867313587e-08],"joint_position_rad":[-1.9855103237058747,-1.5821556813961615,1.3167354138089942,-1.3053760606750013,-1.5707963267406793,-0.41471399683010124],"joint_velocity_rad_s":[6.26099161448871e-10,9.755960996493663e-09,-2.9995492195358597e-08,2.7236383827514988e-08,-2.7936988236806307e-10,2.58973817647888e-10],"linkage_position_rad":[0.00293361116938706,0.00015630156200626357,0.0031934794649395907,-0.0034292989395110743,0.0029336110713927502,0.00015630110796701038,0.0031978493854762807,-0.0034379968875059216],"tcp_position_m":[0.06812348613887066,0.48730461889653887,0.43499999862242333],"tcp_quaternion_wxyz":[-2.91029462307761e-10,0.7071067812151417,0.707106781157953,6.739870785654522e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,5.122208477036495e-17,4.537382296922113e-17,-2.0562525428788446e-07],"object_linear_velocity_m_s":[-5.811042534290649e-17,6.420801022331746e-17,6.193123642205645e-15],"object_angular_velocity_rad_s":[-8.889439282018163e-16,-1.4895996278444148e-15,-1.936384867313587e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322129864,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235735867,-1.5920596013576036,1.3065911153205532,-1.3102027489524444,-1.5707950793588188,-0.4147139967788186,0.0],"actuator_force":[1.4136276149656624e-08,-19.80784382526872,-20.28858497868532,-2.4133468623599583,0.0006237188671320837,-2.560511802585097e-10,-0.2933611086247936],"issued_joint_targets_rad":[-1.9855103235732217,-1.5821556794465204,1.3167354078761562,-1.3053760552557674,-1.5707963267915221,-0.4147139967784446],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.519999999997392,"joint_targets_rad":[-1.9855103235732217,-1.5821556794465204,1.3167354078761562,-1.3053760552557674,-1.5707963267915221,-0.4147139967784446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.53999999999738,"qpos":[-1.9855103236937972,-1.5821556812106603,1.3167354132393405,-1.3053760601572904,-1.5707963267454919,-0.41471399682515186,0.002933611170305005,0.00015630156734235449,0.0031934794603756147,-0.0034292989405520567,0.002933611071591623,0.00015630110454578768,0.0031978493892592746,-0.003437996887608014,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,4.713189299413674e-17,3.967320379540034e-17,-2.0603756067732246e-07],"qvel":[5.779884649593804e-10,8.843208852850843e-09,-2.713799820415436e-08,2.4672122223632517e-08,-2.2605526767318885e-10,2.359023913274155e-10,9.233242479591536e-10,4.577171571960157e-09,-4.47719652431594e-09,-3.2047941539034073e-10,-7.982899508040439e-10,-2.9233655663457873e-09,2.766547345404397e-09,2.564030998997924e-10,-5.763998510354223e-17,6.225657576628631e-17,6.330513741503007e-15,-8.341514711935743e-16,-8.712704254755016e-16,-3.5353497696339144e-08],"joint_position_rad":[-1.9855103236937972,-1.5821556812106603,1.3167354132393405,-1.3053760601572904,-1.5707963267454919,-0.41471399682515186],"joint_velocity_rad_s":[5.779884649593804e-10,8.843208852850843e-09,-2.713799820415436e-08,2.4672122223632517e-08,-2.2605526767318885e-10,2.359023913274155e-10],"linkage_position_rad":[0.002933611170305005,0.00015630156734235449,0.0031934794603756147,-0.0034292989405520567,0.002933611071591623,0.00015630110454578768,0.0031978493892592746,-0.003437996887608014],"tcp_position_m":[0.06812348613619383,0.4873046189015948,0.4349999987552774],"tcp_quaternion_wxyz":[-2.6459561596264845e-10,0.7071067812126214,0.7071067811604733,6.126150072281647e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,4.713189299413674e-17,3.967320379540034e-17,-2.0603756067732246e-07],"object_linear_velocity_m_s":[-5.763998510354223e-17,6.225657576628631e-17,6.330513741503007e-15],"object_angular_velocity_rad_s":[-8.341518330275424e-16,-8.71270078409804e-16,-3.535349769633915e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322130885,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235732217,-1.5920596013572357,1.3065911153161225,-1.3102027489465136,-1.5707950793591852,-0.4147139967784429,0.0],"actuator_force":[9.955783752957359e-09,-19.807843830434194,-20.28858499123635,-2.413346861823811,0.0006237157588202535,-2.3575807972520124e-10,-0.29336111272000287],"issued_joint_targets_rad":[-1.9855103235728915,-1.5821556794435658,1.3167354078711944,-1.3053760552508005,-1.57079632679184,-0.41471399677810333],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.53999999999738,"joint_targets_rad":[-1.9855103235728915,-1.5821556794435658,1.3167354078711944,-1.3053760552508005,-1.57079632679184,-0.41471399677810333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.55999999999737,"qpos":[-1.9855103236827947,-1.5821556810425175,1.3167354127239093,-1.3053760596885748,-1.5707963267499119,-0.41471399682064386,0.002933611170037852,0.00015630156201954233,0.003193479464851466,-0.0034292989390715474,0.0029336110719660577,0.00015630110809513822,0.003197849386306245,-0.0034379968885927597,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,5.688727666331557e-17,3.6181643120365174e-17,-2.064164969499679e-07],"qvel":[5.267696484993849e-10,8.015676460841122e-09,-2.4555015360963748e-08,2.2338845268597833e-08,-2.0293973738521943e-10,2.1486340905332238e-10,2.9959402412799596e-10,1.9458179476020782e-09,-1.8001245204634785e-09,-1.7192779068032847e-10,-9.242693047267563e-11,-1.2612099903036814e-09,1.3073843928651816e-09,1.0110314953287614e-11,-6.927935279304495e-17,1.2077224796703073e-16,6.447087159088651e-15,4.09727053628457e-15,1.0155482304262585e-15,-6.454655892343623e-08],"joint_position_rad":[-1.9855103236827947,-1.5821556810425175,1.3167354127239093,-1.3053760596885748,-1.5707963267499119,-0.41471399682064386],"joint_velocity_rad_s":[5.267696484993849e-10,8.015676460841122e-09,-2.4555015360963748e-08,2.2338845268597833e-08,-2.0293973738521943e-10,2.1486340905332238e-10],"linkage_position_rad":[0.002933611170037852,0.00015630156201954233,0.003193479464851466,-0.0034292989390715474,0.0029336110719660577,0.00015630110809513822,0.003197849386306245,-0.0034379968885927597],"tcp_position_m":[0.06812348613375464,0.4873046189061758,0.4349999988753167],"tcp_quaternion_wxyz":[-2.405419300039123e-10,0.7071067812103251,0.7071067811627691,5.568260117906334e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,5.688727666331557e-17,3.6181643120365174e-17,-2.064164969499679e-07],"object_linear_velocity_m_s":[-6.927935279304495e-17,1.2077224796703073e-16,6.447087159088651e-15],"object_angular_velocity_rad_s":[4.0972709508652394e-15,1.0155465462814668e-15,-6.454655892343626e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221295029,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235728915,-1.5920596013569073,1.30659111531211,-1.3102027489411423,-1.5707950793595176,-0.4147139967781018,0.0],"actuator_force":[9.09903974388726e-09,-19.807843835050335,-20.288585001592764,-2.4133468601683035,0.0006237154912014375,-2.1529444893531036e-10,-0.29336111313603097],"issued_joint_targets_rad":[-1.9855103235725922,-1.5821556794408926,1.316735407866705,-1.3053760552463052,-1.570796326792128,-0.4147139967777945],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.55999999999737,"joint_targets_rad":[-1.9855103235725922,-1.5821556794408926,1.316735407866705,-1.3053760552463052,-1.570796326792128,-0.4147139967777945],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.579999999997359,"qpos":[-1.9855103236727611,-1.582155680890109,1.3167354122575414,-1.3053760592642039,-1.5707963267539404,-0.41471399681653814,0.0029336111694778146,0.00015630155750606935,0.003193479469167363,-0.0034292989390670844,0.0029336110725215383,0.00015630111098804942,0.0031978493835834883,-0.0034379968888519656,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,5.547856634810476e-17,3.3515782692942024e-17,-2.067167637356863e-07],"qvel":[4.769515513539283e-10,7.26551724183979e-09,-2.2218981145775395e-08,2.0220764333440807e-08,-1.9446535705229247e-10,1.9567918901074826e-10,-9.611576735669831e-10,-5.184424407924523e-09,5.087943993058987e-09,3.84981628658567e-10,9.36154111388343e-10,3.3022529987330236e-09,-3.025478966926178e-09,-3.5131468696449123e-10,-1.0626604994715864e-16,1.102228843442669e-16,6.530353885935538e-15,1.6151359819820708e-15,4.339204593937845e-15,-1.1784571655799815e-07],"joint_position_rad":[-1.9855103236727611,-1.582155680890109,1.3167354122575414,-1.3053760592642039,-1.5707963267539404,-0.41471399681653814],"joint_velocity_rad_s":[4.769515513539283e-10,7.26551724183979e-09,-2.2218981145775395e-08,2.0220764333440807e-08,-1.9446535705229247e-10,1.9567918901074826e-10],"linkage_position_rad":[0.0029336111694778146,0.00015630155750606935,0.003193479469167363,-0.0034292989390670844,0.0029336110725215383,0.00015630111098804942,0.0031978493835834883,-0.0034379968888519656],"tcp_position_m":[0.0681234861315179,0.48730461891032706,0.4349999989837735],"tcp_quaternion_wxyz":[-2.18666004524282e-10,0.7071067812082297,0.7071067811648648,5.060991622669434e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,5.547856634810476e-17,3.3515782692942024e-17,-2.067167637356863e-07],"object_linear_velocity_m_s":[-1.0626604994715864e-16,1.102228843442669e-16,6.530353885935538e-15],"object_angular_velocity_rad_s":[1.6151377680552152e-15,4.339203939261935e-15,-1.178457165579982e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283298,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235725922,-1.5920596013566164,1.3065911153084793,-1.310202748936279,-1.570795079359819,-0.41471399677779314,0.0],"actuator_force":[9.557425073580816e-09,-19.807843839222187,-20.288585010531733,-2.4133468581139823,0.0006237165072207063,-1.9539925233402755e-10,-0.2933611119749498],"issued_joint_targets_rad":[-1.985510323572321,-1.582155679438471,1.316735407862639,-1.3053760552422355,-1.5707963267923888,-0.41471399677751447],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.579999999997359,"joint_targets_rad":[-1.985510323572321,-1.582155679438471,1.316735407862639,-1.3053760552422355,-1.5707963267923888,-0.41471399677751447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.599999999997348,"qpos":[-1.985510323663604,-1.5821556807519639,1.3167354118355685,-1.3053760588799643,-1.5707963267575673,-0.4147139968127992,0.0029336111718904316,0.0001563015720055031,0.0031934794562341632,-0.0034292989414026888,0.002933611071233598,0.00015630110158542577,0.003197849392462013,-0.0034379968879550533,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,4.6476389619136657e-17,3.8412421452962244e-17,-2.0716378060942378e-07],"qvel":[4.381833234139235e-10,6.58558711404554e-09,-2.0102587002054997e-08,1.831105699003687e-08,-1.7141772763798711e-10,1.7820933985378014e-10,1.0376624358251314e-09,4.775455762376021e-09,-4.740550488933742e-09,-2.74547404175515e-10,-9.579982422676185e-10,-3.052274649568902e-09,2.8768433620602983e-09,2.7982955928049396e-10,-4.61793228519278e-17,5.680278951788496e-17,6.6205595066863335e-15,-2.076578795705179e-15,-1.1608082492708972e-15,-1.2767618330754707e-08],"joint_position_rad":[-1.985510323663604,-1.5821556807519639,1.3167354118355685,-1.3053760588799643,-1.5707963267575673,-0.4147139968127992],"joint_velocity_rad_s":[4.381833234139235e-10,6.58558711404554e-09,-2.0102587002054997e-08,1.831105699003687e-08,-1.7141772763798711e-10,1.7820933985378014e-10],"linkage_position_rad":[0.0029336111718904316,0.0001563015720055031,0.0031934794562341632,-0.0034292989414026888,0.002933611071233598,0.00015630110158542577,0.003197849392462013,-0.0034379968879550533],"tcp_position_m":[0.06812348612945075,0.48730461891408927,0.43499999908176357],"tcp_quaternion_wxyz":[-1.987886152755133e-10,0.707106781206314,0.7071067811667807,4.5996041102472923e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,4.6476389619136657e-17,3.8412421452962244e-17,-2.0716378060942378e-07],"object_linear_velocity_m_s":[-4.61793228519278e-17,5.680278951788496e-17,6.6205595066863335e-15],"object_angular_velocity_rad_s":[-2.0765792776407234e-15,-1.1608073877001844e-15,-1.2767618330754715e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221320499,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323572321,-1.5920596013563555,1.3065911153051897,-1.310202748931875,-1.570795079360092,-0.4147139967775132,0.0],"actuator_force":[7.292783266166225e-09,-19.807843843017963,-20.288585019722632,-2.413346857061015,0.0006237158795556752,-1.779483227437595e-10,-0.29336111255452246],"issued_joint_targets_rad":[-1.985510323572076,-1.5821556794362797,1.3167354078589593,-1.3053760552385518,-1.5707963267926248,-0.4147139967772615],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.599999999997348,"joint_targets_rad":[-1.985510323572076,-1.5821556794362797,1.3167354078589593,-1.3053760552385518,-1.5707963267926248,-0.4147139967772615],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.619999999997336,"qpos":[-1.9855103236552682,-1.5821556806267492,1.316735411453757,-1.305376058532095,-1.57079632676091,-0.41471399680939414,0.0029336111710573146,0.00015630156513468687,0.0031934794623966357,-0.003429298939901172,0.0029336110721562216,0.00015630110617230773,0.003197849388471501,-0.003437996889006666,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,5.001293071803693e-17,4.663798019427675e-17,-2.0761289636734785e-07],"qvel":[3.9989734713802474e-10,5.969147709186498e-09,-1.818905168892807e-08,1.6580078949824798e-08,-1.5239721396993914e-10,1.622949309694628e-10,6.057537704522749e-10,3.4165528181713406e-09,-3.2834071894632525e-09,-2.6599580002070574e-10,-4.353128540702654e-10,-2.2013546306189753e-09,2.1466341544733395e-09,1.3259796920786681e-10,-6.091441158233997e-17,6.720531498788579e-17,6.694111782067751e-15,-1.2889686923447366e-15,-6.97726020869244e-16,-2.3310446846771652e-08],"joint_position_rad":[-1.9855103236552682,-1.5821556806267492,1.316735411453757,-1.305376058532095,-1.57079632676091,-0.41471399680939414],"joint_velocity_rad_s":[3.9989734713802474e-10,5.969147709186498e-09,-1.818905168892807e-08,1.6580078949824798e-08,-1.5239721396993914e-10,1.622949309694628e-10],"linkage_position_rad":[0.0029336111710573146,0.00015630156513468687,0.0031934794623966357,-0.003429298939901172,0.0029336110721562216,0.00015630110617230773,0.003197849388471501,-0.003437996889006666],"tcp_position_m":[0.0681234861275735,0.48730461891749755,0.43499999917030463],"tcp_quaternion_wxyz":[-1.8069885314666226e-10,0.7071067812045706,0.7071067811685237,4.1802923630278853e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,5.001293071803693e-17,4.663798019427675e-17,-2.0761289636734785e-07],"object_linear_velocity_m_s":[-6.091441158233997e-17,6.720531498788579e-17,6.694111782067751e-15],"object_angular_velocity_rad_s":[-1.2889689842327706e-15,-6.977254833244894e-16,-2.3310446846771672e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221301692,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323572076,-1.5920596013561241,1.3065911153022127,-1.3102027489278874,-1.5707950793603391,-0.41471399677726034,0.0],"actuator_force":[6.425580068025738e-09,-19.807843846409014,-20.28858502746789,-2.4133468559041376,0.000623715525193802,-1.6260059965134133e-10,-0.29336111301288137],"issued_joint_targets_rad":[-1.9855103235718532,-1.5821556794342955,1.3167354078556277,-1.305376055235217,-1.5707963267928389,-0.4147139967770319],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.619999999997336,"joint_targets_rad":[-1.9855103235718532,-1.5821556794342955,1.3167354078556277,-1.305376055235217,-1.5707963267928389,-0.4147139967770319],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.639999999997325,"qpos":[-1.9855103236476694,-1.5821556805132548,1.316735411108288,-1.3053760582171403,-1.570796326763961,-0.4147139968062934,0.002933611169610748,0.00015630155639804257,0.0031934794709302925,-0.0034292989396116666,0.0029336110735109304,0.00015630111174943283,0.003197849383252881,-0.003437996889462041,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,3.2036361604770256e-17,3.9308692316532683e-17,-2.080484231703452e-07],"qvel":[3.631448702509165e-10,5.4103571859467836e-09,-1.6458471179857363e-08,1.501072566663846e-08,-1.390882095118249e-10,1.477964571029656e-10,-2.1761964730542957e-10,-7.262995695003105e-10,8.711171756644336e-10,-2.4589735508754674e-11,4.0335216951126127e-10,4.364848401323533e-10,-2.807226788999758e-10,-1.3177806175474182e-10,-5.5139199597495307e-17,4.323378981181141e-17,6.756561827202918e-15,-1.7171591763741088e-15,-9.142808312699359e-16,-4.2558989321233874e-08],"joint_position_rad":[-1.9855103236476694,-1.5821556805132548,1.316735411108288,-1.3053760582171403,-1.570796326763961,-0.4147139968062934],"joint_velocity_rad_s":[3.631448702509165e-10,5.4103571859467836e-09,-1.6458471179857363e-08,1.501072566663846e-08,-1.390882095118249e-10,1.477964571029656e-10],"linkage_position_rad":[0.002933611169610748,0.00015630155639804257,0.0031934794709302925,-0.0034292989396116666,0.0029336110735109304,0.00015630111174943283,0.003197849383252881,-0.003437996889462041],"tcp_position_m":[0.06812348612585518,0.48730461892058585,0.43499999925030425],"tcp_quaternion_wxyz":[-1.642468381264028e-10,0.7071067812029805,0.7071067811701144,3.799098463558661e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,3.2036361604770256e-17,3.9308692316532683e-17,-2.080484231703452e-07],"object_linear_velocity_m_s":[-5.5139199597495307e-17,4.323378981181141e-17,6.756561827202918e-15],"object_angular_velocity_rad_s":[-1.7171595601492085e-15,-9.142801140384686e-16,-4.255898932123392e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276011,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235718532,-1.5920596013559178,1.3065911152995167,-1.3102027489242758,-1.5707950793605632,-0.41471399677703086,0.0],"actuator_force":[6.3741936173755676e-09,-19.807843849469464,-20.288585034154494,-2.413346854640281,0.0006237156077304462,-1.4838974493613932e-10,-0.2933611130847465],"issued_joint_targets_rad":[-1.9855103235716518,-1.5821556794324996,1.3167354078526126,-1.305376055232198,-1.5707963267930325,-0.4147139967768235],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.639999999997325,"joint_targets_rad":[-1.9855103235716518,-1.5821556794324996,1.3167354078526126,-1.305376055232198,-1.5707963267930325,-0.4147139967768235],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.659999999997314,"qpos":[-1.9855103236407374,-1.5821556804103847,1.3167354107957037,-1.3053760579319782,-1.5707963267667306,-0.4147139968034696,0.002933611169886525,0.0001563015584841752,0.003193479469459657,-0.003429298940708347,0.002933611073335831,0.00015630111035425744,0.003197849384170261,-0.0034379968889880264,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,1.0379777697441066e-17,4.1057188955861946e-17,-2.0838389207339083e-07],"qvel":[3.2440349017088184e-10,4.903817041636057e-09,-1.4893661096142009e-08,1.3576486312878236e-08,-1.602680535379797e-10,1.345516531152783e-10,-2.324561062745669e-09,-1.322563924315506e-08,1.2462433313921701e-08,1.1928240575871287e-09,1.5736945263509836e-09,8.529974059966114e-09,-8.29057916608665e-09,-6.124055478934639e-10,-1.0590599448982224e-16,-1.2598406998866746e-17,5.876710080187482e-15,-3.680704845185459e-15,4.4596514721961315e-15,-7.770196701722746e-08],"joint_position_rad":[-1.9855103236407374,-1.5821556804103847,1.3167354107957037,-1.3053760579319782,-1.5707963267667306,-0.4147139968034696],"joint_velocity_rad_s":[3.2440349017088184e-10,4.903817041636057e-09,-1.4893661096142009e-08,1.3576486312878236e-08,-1.602680535379797e-10,1.345516531152783e-10],"linkage_position_rad":[0.002933611169886525,0.0001563015584841752,0.003193479469459657,-0.003429298940708347,0.002933611073335831,0.00015630111035425744,0.003197849384170261,-0.0034379968889880264],"tcp_position_m":[0.06812348612427506,0.48730461892338384,0.43499999932258526],"tcp_quaternion_wxyz":[-1.4929063911201891e-10,0.7071067812015278,0.7071067811715669,3.452496574162269e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,1.0379777697441066e-17,4.1057188955861946e-17,-2.0838389207339083e-07],"object_linear_velocity_m_s":[-1.0590599448982224e-16,-1.2598406998866746e-17,5.876710080187482e-15],"object_angular_velocity_rad_s":[-3.68070299292653e-15,4.459653007808012e-15,-7.770196701722757e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221282582,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235716518,-1.5920596013557344,1.3065911152970764,-1.3102027489210057,-1.5707950793607663,-0.4147139967768226,0.0],"actuator_force":[8.410097507294267e-09,-19.807843852226142,-20.288585039790178,-2.4133468521623627,0.0006237190088995703,-1.3167777979106177e-10,-0.2933611084067851],"issued_joint_targets_rad":[-1.9855103235714693,-1.5821556794308744,1.3167354078498834,-1.3053760552294658,-1.5707963267932081,-0.41471399677663506],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.659999999997314,"joint_targets_rad":[-1.9855103235714693,-1.5821556794308744,1.3167354078498834,-1.3053760552294658,-1.5707963267932081,-0.41471399677663506],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.679999999997303,"qpos":[-1.9855103236344174,-1.5821556803171462,1.3167354105128717,-1.3053760576737865,-1.5707963267692269,-0.4147139968008984,0.0029336111721410736,0.00015630156897089464,0.00319347945907855,-0.003429298940630902,0.00293361107196031,0.00015630110375673494,0.0031978493909847715,-0.003437996889183462,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,-4.915176405491643e-18,4.488019388781286e-17,-2.0867863414288475e-07],"qvel":[3.033255329411927e-10,4.444761415714284e-09,-1.3473675732392343e-08,1.23054926435978e-08,-1.1515187868941743e-10,1.2254722719077756e-10,8.128886644198407e-10,4.185837930962917e-09,-4.099777159739087e-09,-2.8658680481325e-10,-6.913366237638887e-10,-2.6962312401497106e-09,2.580558045150404e-09,2.0841949941099934e-10,-5.2945285903446127e-17,-2.804042734989114e-18,5.667155484289481e-15,-3.1245585561312435e-16,-1.4213993572105213e-15,-8.418371811898474e-09],"joint_position_rad":[-1.9855103236344174,-1.5821556803171462,1.3167354105128717,-1.3053760576737865,-1.5707963267692269,-0.4147139968008984],"joint_velocity_rad_s":[3.033255329411927e-10,4.444761415714284e-09,-1.3473675732392343e-08,1.23054926435978e-08,-1.1515187868941743e-10,1.2254722719077756e-10],"linkage_position_rad":[0.0029336111721410736,0.00015630156897089464,0.00319347945907855,-0.003429298940630902,0.00293361107196031,0.00015630110375673494,0.0031978493909847715,-0.003437996889183462],"tcp_position_m":[0.0681234861228197,0.48730461892591936,0.4349999993878938],"tcp_quaternion_wxyz":[-1.357022957303549e-10,0.7071067812002026,0.707106781172892,3.1373229825678316e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,-4.915176405491643e-18,4.488019388781286e-17,-2.0867863414288475e-07],"object_linear_velocity_m_s":[-5.2945285903446127e-17,-2.804042734989114e-18,5.667155484289481e-15],"object_angular_velocity_rad_s":[-3.124564496000868e-16,-1.4213992268874325e-15,-8.418371811898486e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221311263,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235714693,-1.5920596013555717,1.3065911152948673,-1.310202748918045,-1.5707950793609502,-0.4147139967766342,0.0],"actuator_force":[4.5656634029001e-09,-19.807843854755447,-20.28858504653863,-2.413346852678501,0.0006237156535462418,-1.226396761921933e-10,-0.2933611128128294],"issued_joint_targets_rad":[-1.9855103235713043,-1.582155679429402,1.3167354078474112,-1.3053760552269915,-1.570796326793367,-0.41471399677646453],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.679999999997303,"joint_targets_rad":[-1.9855103235713043,-1.582155679429402,1.3167354078474112,-1.3053760552269915,-1.570796326793367,-0.41471399677646453],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.699999999997292,"qpos":[-1.9855103236286635,-1.5821556802326375,1.3167354102569568,-1.305376057440038,-1.570796326771534,-0.41471399679855736,0.0029336111701149664,0.00015630155801282745,0.00319347946991109,-0.003429298940266352,0.0029336110739119773,0.00015630111073032353,0.0031978493844862957,-0.0034379968897660465,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,-3.064286998085965e-17,6.415481365853155e-17,-2.0915705317906325e-07],"qvel":[2.762777945626857e-10,4.028562103256401e-09,-1.2191480047343714e-08,1.114222299306287e-08,-1.0167300116927178e-10,1.1159026104239801e-10,2.7878855460957737e-10,2.035674868165187e-09,-1.8238435260087088e-09,-2.452765577875005e-10,-6.415484442163988e-11,-1.3274283636770504e-09,1.34179816578019e-09,4.7066066419677654e-11,-7.705648498497059e-17,-3.423850980955251e-17,6.831501881365113e-15,1.541092358250553e-16,-1.476062575841348e-15,-1.5369821024875284e-08],"joint_position_rad":[-1.9855103236286635,-1.5821556802326375,1.3167354102569568,-1.305376057440038,-1.570796326771534,-0.41471399679855736],"joint_velocity_rad_s":[2.762777945626857e-10,4.028562103256401e-09,-1.2191480047343714e-08,1.114222299306287e-08,-1.0167300116927178e-10,1.1159026104239801e-10],"linkage_position_rad":[0.0029336111701149664,0.00015630155801282745,0.00319347946991109,-0.003429298940266352,0.0029336110739119773,0.00015630111073032353,0.0031978493844862957,-0.0034379968897660465],"tcp_position_m":[0.06812348612149936,0.48730461892821647,0.4349999994469059],"tcp_quaternion_wxyz":[-1.233353131010853e-10,0.707106781198996,0.7071067811740988,2.850963092117588e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,-3.064286998085965e-17,6.415481365853155e-17,-2.0915705317906325e-07],"object_linear_velocity_m_s":[-7.705648498497059e-17,-3.423850980955251e-17,6.831501881365113e-15],"object_angular_velocity_rad_s":[1.5410861639514851e-16,-1.4760626412492388e-15,-1.5369821024875307e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221277679,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235713043,-1.5920596013554258,1.3065911152928655,-1.310202748915363,-1.5707950793611163,-0.41471399677646376,0.0],"actuator_force":[4.207322490401566e-09,-19.807843857001444,-20.28858505159087,-2.4133468518847394,0.0006237153761503578,-1.1223733054066543e-10,-0.29336111327451575],"issued_joint_targets_rad":[-1.9855103235711546,-1.5821556794280702,1.3167354078451756,-1.3053760552247533,-1.5707963267935112,-0.4147139967763097],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.699999999997292,"joint_targets_rad":[-1.9855103235711546,-1.5821556794280702,1.3167354078451756,-1.3053760552247533,-1.5707963267935112,-0.4147139967763097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.719999999997281,"qpos":[-1.9855103236234177,-1.5821556801560421,1.3167354100254012,-1.3053760572284057,-1.5707963267736396,-0.41471399679642573,0.0029336111690209284,0.00015630155241310863,0.0031934794758024594,-0.003429298940668307,0.002933611074785726,0.00015630111424648588,0.00319784938074255,-0.0034379968896737258,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,-3.994113856959754e-17,7.456284723597747e-17,-2.096351649245448e-07],"qvel":[2.481818735053798e-10,3.651293460937842e-09,-1.1032522198597851e-08,1.0082968598576877e-08,-1.0302397091568713e-10,1.0159858955186391e-10,-1.0602327827379498e-09,-5.667099269369858e-09,5.570652194408004e-09,4.197690069244268e-10,1.0222031509452048e-09,3.6062253381356546e-09,-3.316577669077915e-09,-3.749860477314797e-10,-9.910894799679721e-17,-4.9711300520043743e-17,7.070199831659522e-15,1.2483012724513263e-16,-1.0194918844143072e-15,-2.8061411828211462e-08],"joint_position_rad":[-1.9855103236234177,-1.5821556801560421,1.3167354100254012,-1.3053760572284057,-1.5707963267736396,-0.41471399679642573],"joint_velocity_rad_s":[2.481818735053798e-10,3.651293460937842e-09,-1.1032522198597851e-08,1.0082968598576877e-08,-1.0302397091568713e-10,1.0159858955186391e-10],"linkage_position_rad":[0.0029336111690209284,0.00015630155241310863,0.0031934794758024594,-0.003429298940668307,0.002933611074785726,0.00015630111424648588,0.00319784938074255,-0.0034379968896737258],"tcp_position_m":[0.06812348612029023,0.48730461893029725,0.43499999950022555],"tcp_quaternion_wxyz":[-1.1208921314148286e-10,0.7071067811978949,0.7071067811752,2.5906614304694107e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,-3.994113856959754e-17,7.456284723597747e-17,-2.096351649245448e-07],"object_linear_velocity_m_s":[-9.910894799679721e-17,-4.9711300520043743e-17,7.070199831659522e-15],"object_angular_velocity_rad_s":[1.2482969561774525e-16,-1.0194919389933967e-15,-2.8061411828211512e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322126175,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235711546,-1.5920596013552972,1.3065911152910556,-1.310202748912936,-1.5707950793612677,-0.414713996776309,0.0],"actuator_force":[5.2532413974404335e-09,-19.8078438590278,-20.288585055682233,-2.413346850561993,0.0006237164883486912,-1.0149392437597271e-10,-0.2933611120001845],"issued_joint_targets_rad":[-1.9855103235710194,-1.5821556794268645,1.316735407843151,-1.3053760552227265,-1.5707963267936416,-0.4147139967761703],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.719999999997281,"joint_targets_rad":[-1.9855103235710194,-1.5821556794268645,1.316735407843151,-1.3053760552227265,-1.5707963267936416,-0.4147139967761703],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.73999999999727,"qpos":[-1.9855103236186284,-1.5821556800866194,1.3167354098158879,-1.3053760570367792,-1.570796326775514,-0.41471399679448495,0.0029336111732652026,0.00015630157312876127,0.0031934794552885676,-0.0034292989412359628,0.0029336110714794647,0.0001563011010964375,0.003197849393652047,-0.0034379968892231157,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,-4.7097182654270094e-17,6.753937953116867e-17,-2.1003533124237522e-07],"qvel":[2.2985104392659862e-10,3.3094058637053272e-09,-9.98088527628963e-09,9.132695579276256e-09,-8.742168801773006e-11,9.25004937089699e-11,9.470069756218821e-10,4.493524795346696e-09,-4.469170019349857e-09,-2.593967684935244e-10,-8.69565546728588e-10,-2.89551806057612e-09,2.7537374822518363e-09,2.453608818168762e-10,-1.0509675730836854e-16,-7.938537081766952e-17,7.174283240218131e-15,-1.5228416695138593e-15,-1.173568648111862e-16,-5.123305160926323e-08],"joint_position_rad":[-1.9855103236186284,-1.5821556800866194,1.3167354098158879,-1.3053760570367792,-1.570796326775514,-0.41471399679448495],"joint_velocity_rad_s":[2.2985104392659862e-10,3.3094058637053272e-09,-9.98088527628963e-09,9.132695579276256e-09,-8.742168801773006e-11,9.25004937089699e-11],"linkage_position_rad":[0.0029336111732652026,0.00015630157312876127,0.0031934794552885676,-0.0034292989412359628,0.0029336110714794647,0.0001563011010964375,0.003197849393652047,-0.0034379968892231157],"tcp_position_m":[0.0681234861191667,0.48730461893218263,0.43499999954839974],"tcp_quaternion_wxyz":[-1.0188116872637974e-10,0.7071067811968879,0.7071067811762068,2.3538801663465763e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,-4.7097182654270094e-17,6.753937953116867e-17,-2.1003533124237522e-07],"object_linear_velocity_m_s":[-1.0509675730836854e-16,-7.938537081766952e-17,7.174283240218131e-15],"object_angular_velocity_rad_s":[-1.522841725732402e-15,-1.1735622993593043e-16,-5.123305160926333e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221322427,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235710194,-1.5920596013551827,1.306591115289416,-1.3102027489107377,-1.5707950793614047,-0.41471399677616966,0.0],"actuator_force":[3.2778189051896334e-09,-19.807843860888624,-20.288585060588957,-2.413346850248786,0.0006237157967916573,-9.239897735824343e-11,-0.29336111262444053],"issued_joint_targets_rad":[-1.9855103235708964,-1.5821556794257732,1.3167354078413191,-1.305376055220892,-1.57079632679376,-0.41471399677604237],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.73999999999727,"joint_targets_rad":[-1.9855103235708964,-1.5821556794257732,1.3167354078413191,-1.305376055220892,-1.57079632679376,-0.41471399677604237],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.759999999997259,"qpos":[-1.985510323614274,-1.5821556800236984,1.3167354096263113,-1.3053760568633004,-1.5707963267772571,-0.41471399679271775,0.002933611170858883,0.00015630156124341247,0.0031934794671941106,-0.003429298940922234,0.002933611073855977,0.00015630110870151447,0.003197849386557163,-0.0034379968898412966,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999789,-4.5866847959985966e-17,5.50497741968537e-17,-2.103777722124025e-07],"qvel":[2.0996815987580038e-10,2.99943591562228e-09,-9.030833592862995e-09,8.270152231416655e-09,-7.563828586059123e-11,8.422665656785654e-11,6.163079352323541e-10,3.648480751028121e-09,-3.4494911969470213e-09,-3.436420904065319e-10,-4.3759652128413237e-10,-2.3556137771245913e-09,2.2612041575089166e-09,1.7534840378891313e-10,-1.1036404133188564e-16,-1.0467809870687706e-16,6.899503041623404e-15,-1.60159782925829e-15,1.6959820584145618e-15,-9.353861428166975e-08],"joint_position_rad":[-1.985510323614274,-1.5821556800236984,1.3167354096263113,-1.3053760568633004,-1.5707963267772571,-0.41471399679271775],"joint_velocity_rad_s":[2.0996815987580038e-10,2.99943591562228e-09,-9.030833592862995e-09,8.270152231416655e-09,-7.563828586059123e-11,8.422665656785654e-11],"linkage_position_rad":[0.002933611170858883,0.00015630156124341247,0.0031934794671941106,-0.003429298940922234,0.002933611073855977,0.00015630110870151447,0.003197849386557163,-0.0034379968898412966],"tcp_position_m":[0.06812348611815326,0.48730461893389093,0.4349999995919316],"tcp_quaternion_wxyz":[-9.258784248709108e-11,0.707106781195973,0.7071067811771217,2.1388225954456428e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999789,-4.5866847959985966e-17,5.50497741968537e-17,-2.103777722124025e-07],"object_linear_velocity_m_s":[-1.1036404133188564e-16,-1.0467809870687706e-16,6.899503041623404e-15],"object_angular_velocity_rad_s":[-1.6015971259628581e-15,1.6959827237149412e-15,-9.353861428166993e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221285372,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235708964,-1.592059601355081,1.3065911152879324,-1.3102027489087469,-1.5707950793615284,-0.41471399677604176,0.0],"actuator_force":[2.7675923774950206e-09,-19.807843862539357,-20.28858506442475,-2.4133468497384456,0.0006237154281052426,-8.466827239317354e-11,-0.2933611131293],"issued_joint_targets_rad":[-1.9855103235707856,-1.5821556794247842,1.316735407839659,-1.3053760552192306,-1.570796326793867,-0.41471399677592774],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.759999999997259,"joint_targets_rad":[-1.9855103235707856,-1.5821556794247842,1.316735407839659,-1.3053760552192306,-1.570796326793867,-0.41471399677592774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.779999999997248,"qpos":[-1.9855103236103064,-1.582155679966671,1.3167354094547778,-1.305376056706238,-1.5707963267788527,-0.41471399679110893,0.0029336111688669743,0.00015630155112914064,0.003193479477549784,-0.003429298940989403,0.0029336110755920465,0.0001563011150737056,0.0031978493802029885,-0.003437996890034601,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-3.838292918068175e-17,4.556628697048331e-17,-2.1073258645725734e-07],"qvel":[1.8981175678922545e-10,2.718463021962364e-09,-8.172114273511239e-09,7.486908194677447e-09,-6.915373816908492e-11,7.668326685718293e-11,-2.4674514544909743e-10,-8.042518734940542e-10,9.702961002500663e-10,-2.757615966962353e-11,4.4227070269836255e-10,4.821359902633993e-10,-3.204925949200341e-10,-1.3767230073585055e-10,-5.771589307389456e-17,-4.94928988163909e-17,6.40545379566521e-15,1.7402791814174307e-15,-2.0782708430926747e-15,-1.01341428540446e-08],"joint_position_rad":[-1.9855103236103064,-1.582155679966671,1.3167354094547778,-1.305376056706238,-1.5707963267788527,-0.41471399679110893],"joint_velocity_rad_s":[1.8981175678922545e-10,2.718463021962364e-09,-8.172114273511239e-09,7.486908194677447e-09,-6.915373816908492e-11,7.668326685718293e-11],"linkage_position_rad":[0.0029336111688669743,0.00015630155112914064,0.003193479477549784,-0.003429298940989403,0.0029336110755920465,0.0001563011150737056,0.0031978493802029885,-0.003437996890034601],"tcp_position_m":[0.0681234861172281,0.48730461893543825,0.4349999996312656],"tcp_quaternion_wxyz":[-8.413627959622315e-11,0.707106781195139,0.7071067811779554,1.9433822020869576e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-3.838292918068175e-17,4.556628697048331e-17,-2.1073258645725734e-07],"object_linear_velocity_m_s":[-5.771589307389456e-17,-4.94928988163909e-17,6.40545379566521e-15],"object_angular_velocity_rad_s":[1.7402783045749452e-15,-2.0782715773375123e-15,-1.01341428540446e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221254566,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235707856,-1.5920596013549897,1.3065911152865872,-1.3102027489069439,-1.5707950793616408,-0.4147139967759272,0.0],"actuator_force":[3.116838342975825e-09,-19.807843864022743,-20.288585067535678,-2.413346849043819,0.0006237155213284495,-7.744915819785092e-11,-0.29336111320057884],"issued_joint_targets_rad":[-1.9855103235706848,-1.58215567942389,1.316735407838158,-1.3053760552177276,-1.5707963267939642,-0.4147139967758231],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.779999999997248,"joint_targets_rad":[-1.9855103235706848,-1.58215567942389,1.316735407838158,-1.3053760552177276,-1.5707963267939642,-0.4147139967758231],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.799999999997237,"qpos":[-1.9855103236066869,-1.5821556799149852,1.3167354092995716,-1.305376056564032,-1.5707963267802978,-0.41471399678964427,0.002933611170814132,0.00015630155811815862,0.0031934794696505914,-0.003429298940249406,0.002933611073546004,0.0001563011108097155,0.0031978493844454312,-0.0034379968900982117,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-5.0289267655351175e-17,5.090747487079984e-17,-2.111866471461144e-07],"qvel":[1.6599534519500694e-10,2.4637658440418395e-09,-7.396174204450427e-09,6.763643093401955e-09,-9.857782066427513e-11,6.977667407616085e-11,-2.5564580003258474e-09,-1.4688769469388746e-08,1.3773279650156877e-08,1.2683492326692655e-09,1.7538615486838509e-09,9.487017658984248e-09,-9.09046884182307e-09,-6.800524539942494e-10,-6.587340431380041e-17,-6.530273871857067e-17,6.370759326145675e-15,9.12151149311923e-16,-1.2760399145272867e-15,-1.850238566168466e-08],"joint_position_rad":[-1.9855103236066869,-1.5821556799149852,1.3167354092995716,-1.305376056564032,-1.5707963267802978,-0.41471399678964427],"joint_velocity_rad_s":[1.6599534519500694e-10,2.4637658440418395e-09,-7.396174204450427e-09,6.763643093401955e-09,-9.857782066427513e-11,6.977667407616085e-11],"linkage_position_rad":[0.002933611170814132,0.00015630155811815862,0.0031934794696505914,-0.003429298940249406,0.002933611073546004,0.0001563011108097155,0.0031978493844454312,-0.0034379968900982117],"tcp_position_m":[0.06812348611637659,0.4873046189368394,0.4349999996668056],"tcp_quaternion_wxyz":[-7.645569739684874e-11,0.7071067811943773,0.7071067811787174,1.7657091860919827e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-5.0289267655351175e-17,5.090747487079984e-17,-2.111866471461144e-07],"object_linear_velocity_m_s":[-6.587340431380041e-17,-6.530273871857067e-17,6.370759326145675e-15],"object_angular_velocity_rad_s":[9.121506084628394e-16,-1.2760403016564013e-15,-1.8502385661684665e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281172,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235706848,-1.5920596013549095,1.306591115285371,-1.310202748905312,-1.5707950793617433,-0.4147139967758226,0.0],"actuator_force":[5.60612534172833e-09,-19.807843865354698,-20.288585069930832,-2.413346847004277,0.0006237191349782734,-6.681943887087982e-11,-0.29336110820502453],"issued_joint_targets_rad":[-1.9855103235705935,-1.5821556794230802,1.316735407836799,-1.305376055216367,-1.5707963267940517,-0.41471399677572923],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.799999999997237,"joint_targets_rad":[-1.9855103235705935,-1.5821556794230802,1.316735407836799,-1.305376055216367,-1.5707963267940517,-0.41471399677572923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.819999999997226,"qpos":[-1.9855103236033846,-1.5821556798681413,1.3167354091591377,-1.3053760564352686,-1.5707963267815814,-0.41471399678831106,0.0029336111717717266,0.00015630156533079893,0.00319347946348778,-0.003429298941543336,0.0029336110734476976,0.00015630110609135924,0.0031978493891009763,-0.003437996889766543,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-4.519318650707533e-17,7.31379675096762e-17,-2.116345534728631e-07],"qvel":[1.5936963765645044e-10,2.2330411281757014e-09,-6.6897030027601415e-09,6.138044246806307e-09,-5.7054258309841626e-11,6.354895904472372e-11,8.447004172986685e-10,4.494459353727421e-09,-4.3462002874049136e-09,-3.6191524132764863e-10,-7.168918909191744e-10,-2.8951304128455427e-09,2.733920172551729e-09,2.5422577617606917e-10,-1.0434063930628795e-16,-5.884430348836733e-17,6.4512504954310004e-15,1.0170308305792498e-15,7.794392307659391e-16,-3.378068378393376e-08],"joint_position_rad":[-1.9855103236033846,-1.5821556798681413,1.3167354091591377,-1.3053760564352686,-1.5707963267815814,-0.41471399678831106],"joint_velocity_rad_s":[1.5936963765645044e-10,2.2330411281757014e-09,-6.6897030027601415e-09,6.138044246806307e-09,-5.7054258309841626e-11,6.354895904472372e-11],"linkage_position_rad":[0.0029336111717717266,0.00015630156533079893,0.00319347946348778,-0.003429298941543336,0.0029336110734476976,0.00015630110609135924,0.0031978493891009763,-0.003437996889766543],"tcp_position_m":[0.06812348611558613,0.48730461893810945,0.4349999996989171],"tcp_quaternion_wxyz":[-6.948660364957839e-11,0.7071067811936811,0.7071067811794136,1.6041115876525322e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-4.519318650707533e-17,7.31379675096762e-17,-2.116345534728631e-07],"object_linear_velocity_m_s":[-1.0434063930628795e-16,-5.884430348836733e-17,6.4512504954310004e-15],"object_angular_velocity_rad_s":[1.0170311555504045e-15,7.794387972348258e-16,-3.3780683783933775e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221296504,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235705935,-1.592059601354838,1.3065911152842702,-1.3102027489038341,-1.5707950793618348,-0.4147139967757288,0.0],"actuator_force":[1.8344508134759963e-09,-19.807843866610256,-20.288585073853483,-2.413346848087258,0.0006237155787403026,-6.374989425239619e-11,-0.2933611129000139],"issued_joint_targets_rad":[-1.9855103235705107,-1.5821556794223466,1.3167354078355678,-1.3053760552151346,-1.5707963267941314,-0.414713996775644],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.819999999997226,"joint_targets_rad":[-1.9855103235705107,-1.5821556794223466,1.3167354078355678,-1.3053760552151346,-1.5707963267941314,-0.414713996775644],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.839999999997215,"qpos":[-1.9855103236003844,-1.5821556798256862,1.3167354090320662,-1.3053760563187047,-1.5707963267827878,-0.41471399678709747,0.0029336111692025444,0.00015630155287240486,0.003193479476260045,-0.0034292989414979533,0.0029336110758239873,0.00015630111395971197,0.0031978493814099054,-0.003437996890140415,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-4.175123629677647e-17,7.685297348899245e-17,-2.1199663154814845e-07],"qvel":[1.4500842543531493e-10,2.0238034250738906e-09,-6.053280502866407e-09,5.558357222562827e-09,-4.8446872965345154e-11,5.7855822195005335e-11,2.965551000864203e-10,2.2114110847868646e-09,-1.973028009569816e-09,-2.6886106831239397e-10,-6.717936160291495e-11,-1.4389928550663209e-09,1.4480994584609046e-09,5.579648109809737e-11,-1.3679959408797173e-16,-8.023058804273319e-17,6.528966107154762e-15,-1.2983326606246266e-15,2.608374113858816e-15,-6.167499790436178e-08],"joint_position_rad":[-1.9855103236003844,-1.5821556798256862,1.3167354090320662,-1.3053760563187047,-1.5707963267827878,-0.41471399678709747],"joint_velocity_rad_s":[1.4500842543531493e-10,2.0238034250738906e-09,-6.053280502866407e-09,5.558357222562827e-09,-4.8446872965345154e-11,5.7855822195005335e-11],"linkage_position_rad":[0.0029336111692025444,0.00015630155287240486,0.003193479476260045,-0.0034292989414979533,0.0029336110758239873,0.00015630111395971197,0.0031978493814099054,-0.003437996890140415],"tcp_position_m":[0.06812348611487759,0.4873046189392596,0.43499999972793546],"tcp_quaternion_wxyz":[-6.313780397405671e-11,0.7071067811930494,0.7071067811800453,1.4574101640822743e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-4.175123629677647e-17,7.685297348899245e-17,-2.1199663154814845e-07],"object_linear_velocity_m_s":[-1.3679959408797173e-16,-8.023058804273319e-17,6.528966107154762e-15],"object_angular_velocity_rad_s":[-1.2983315641712739e-15,2.6083746591928712e-15,-6.167499790436181e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221257382,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235705107,-1.5920596013547739,1.306591115283272,-1.3102027489024952,-1.570795079361918,-0.41471399677564363,0.0],"actuator_force":[1.7439560906495899e-09,-19.807843867696647,-20.288585076275922,-2.4133468477309634,0.0006237152795165457,-5.866240826435387e-11,-0.2933611133982053],"issued_joint_targets_rad":[-1.985510323570436,-1.582155679421683,1.3167354078344542,-1.30537605521402,-1.5707963267942033,-0.4147139967755663],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.839999999997215,"joint_targets_rad":[-1.985510323570436,-1.582155679421683,1.3167354078344542,-1.30537605521402,-1.5707963267942033,-0.4147139967755663],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.859999999997203,"qpos":[-1.9855103235976506,-1.5821556797872085,1.3167354089170888,-1.305376056213172,-1.5707963267838918,-0.4147139967859925,0.0029336111696293284,0.00015630155116913867,0.003193479476652821,-0.003429298940034774,0.0029336110749934867,0.000156301115266532,0.003197849380441606,-0.003437996890665454,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-3.8467370845797254e-17,6.883164023280109e-17,-2.1228354000134577e-07],"qvel":[1.2831379367859264e-10,1.834146032713565e-09,-5.47867883107883e-09,5.0270948324143095e-09,-5.516870295392073e-11,5.265935822893317e-11,-1.2228718707425906e-09,-6.542661557096988e-09,6.394404861457489e-09,4.2511436218409826e-10,1.1808827406186128e-09,4.169039839415183e-09,-3.777791498437249e-09,-4.176777617767674e-10,-2.0059128614002526e-16,-1.5360802978574117e-16,6.605293940097742e-15,-7.69081915885436e-15,7.251746840169175e-15,-1.1260297129664356e-07],"joint_position_rad":[-1.9855103235976506,-1.5821556797872085,1.3167354089170888,-1.305376056213172,-1.5707963267838918,-0.4147139967859925],"joint_velocity_rad_s":[1.2831379367859264e-10,1.834146032713565e-09,-5.47867883107883e-09,5.0270948324143095e-09,-5.516870295392073e-11,5.265935822893317e-11],"linkage_position_rad":[0.0029336111696293284,0.00015630155116913867,0.003193479476652821,-0.003429298940034774,0.0029336110749934867,0.000156301115266532,0.003197849380441606,-0.003437996890665454],"tcp_position_m":[0.0681234861142306,0.4873046189403014,0.4349999997541556],"tcp_quaternion_wxyz":[-5.7364864787885526e-11,0.7071067811924735,0.7071067811806212,1.324104158250104e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-3.8467370845797254e-17,6.883164023280109e-17,-2.1228354000134577e-07],"object_linear_velocity_m_s":[-2.0059128614002526e-16,-1.5360802978574117e-16,6.605293940097742e-15],"object_angular_velocity_rad_s":[-7.690816095501987e-15,7.25175009677408e-15,-1.1260297129664364e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221258647,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323570436,-1.5920596013547175,1.3065911152823695,-1.310202748901284,-1.570795079361994,-0.4147139967755659,0.0],"actuator_force":[3.103195922449231e-09,-19.807843868676173,-20.288585077967127,-2.413346846765421,0.0006237164657250105,-5.263700586510822e-11,-0.2933611120211951],"issued_joint_targets_rad":[-1.9855103235703686,-1.5821556794210827,1.3167354078334454,-1.30537605521301,-1.5707963267942688,-0.4147139967754963],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.859999999997203,"joint_targets_rad":[-1.9855103235703686,-1.5821556794210827,1.3167354078334454,-1.30537605521301,-1.5707963267942688,-0.4147139967754963],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.879999999997192,"qpos":[-1.9855103235951472,-1.582155679752336,1.3167354088130578,-1.3053760561176024,-1.5707963267848473,-0.4147139967849868,0.002933611172793731,0.00015630156981617603,0.003193479459284522,-0.0034292989420710257,0.002933611072785138,0.00015630110323380786,0.0031978493918300133,-0.0034379968895988777,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-5.3714054452608856e-17,7.247940480089219e-17,-2.1271066989348576e-07],"qvel":[1.2079082704657308e-10,1.6623434229420635e-09,-4.9555820440590455e-09,4.555369013337482e-09,-4.350580790882482e-11,4.793353796104547e-11,9.933615011707658e-10,4.834333093415466e-09,-4.754420176288756e-09,-3.283793520369496e-10,-9.120697708636237e-10,-3.114943962732066e-09,2.9263437042562057e-09,2.918151847778446e-10,-8.965076968199044e-17,-6.302948621821165e-17,6.692724003286975e-15,1.2063949178259514e-15,-2.681520095842811e-15,-1.219960981540564e-08],"joint_position_rad":[-1.9855103235951472,-1.582155679752336,1.3167354088130578,-1.3053760561176024,-1.5707963267848473,-0.4147139967849868],"joint_velocity_rad_s":[1.2079082704657308e-10,1.6623434229420635e-09,-4.9555820440590455e-09,4.555369013337482e-09,-4.350580790882482e-11,4.793353796104547e-11],"linkage_position_rad":[0.002933611172793731,0.00015630156981617603,0.003193479459284522,-0.0034292989420710257,0.002933611072785138,0.00015630110323380786,0.0031978493918300133,-0.0034379968895988777],"tcp_position_m":[0.06812348611361825,0.4873046189412454,0.43499999977784376],"tcp_quaternion_wxyz":[-5.2135732206807004e-11,0.7071067811919438,0.7071067811811509,1.2027467345935546e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-5.3714054452608856e-17,7.247940480089219e-17,-2.1271066989348576e-07],"object_linear_velocity_m_s":[-8.965076968199044e-17,-6.302948621821165e-17,6.692724003286975e-15],"object_angular_velocity_rad_s":[1.20639377528153e-15,-2.6815206103792935e-15,-1.2199609815405651e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221309454,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235703686,-1.592059601354668,1.3065911152815517,-1.3102027489001862,-1.5707950793620629,-0.414713996775496,0.0],"actuator_force":[1.2405507732182741e-09,-19.80784386960113,-20.288585080779285,-2.4133468468287447,0.0006237157427904094,-4.7919002099661157e-11,-0.29336111268540216],"issued_joint_targets_rad":[-1.985510323570307,-1.5821556794205385,1.3167354078325328,-1.3053760552120963,-1.5707963267943277,-0.41471399677543286],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.879999999997192,"joint_targets_rad":[-1.985510323570307,-1.5821556794205385,1.3167354078325328,-1.3053760552120963,-1.5707963267943277,-0.41471399677543286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.899999999997181,"qpos":[-1.9855103235928788,-1.5821556797207312,1.3167354087189227,-1.3053760560310945,-1.5707963267857572,-0.41471399678407145,0.002933611169860398,0.00015630155640216788,0.003193479473146971,-0.003429298942055933,0.0029336110756072397,0.00015630111174057748,0.003197849383574563,-0.0034379968900527026,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-8.462145114578164e-17,6.918791740325428e-17,-2.1319527958601835e-07],"qvel":[1.1058525915241687e-10,1.5065411797735475e-09,-4.48385633259767e-09,4.126022015485598e-09,-3.527891036442788e-11,4.3636721144965766e-11,6.657703083114788e-10,3.971243146295176e-09,-3.7477820634337414e-09,-3.7644640460945013e-10,-4.741983742126748e-10,-2.557983052556004e-09,2.449004254953815e-09,1.9431827808138145e-10,-8.963324649887048e-17,-1.0342214302739393e-16,6.7537862696413605e-15,6.775800502251878e-16,-2.1563459346779755e-15,-2.2273406737758958e-08],"joint_position_rad":[-1.9855103235928788,-1.5821556797207312,1.3167354087189227,-1.3053760560310945,-1.5707963267857572,-0.41471399678407145],"joint_velocity_rad_s":[1.1058525915241687e-10,1.5065411797735475e-09,-4.48385633259767e-09,4.126022015485598e-09,-3.527891036442788e-11,4.3636721144965766e-11],"linkage_position_rad":[0.002933611169860398,0.00015630155640216788,0.003193479473146971,-0.003429298942055933,0.0029336110756072397,0.00015630111174057748,0.003197849383574563,-0.0034379968900527026],"tcp_position_m":[0.06812348611307553,0.48730461894210014,0.43499999979925197],"tcp_quaternion_wxyz":[-4.736850932695182e-11,0.7071067811914656,0.7071067811816288,1.0926485912911997e-10],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-8.462145114578164e-17,6.918791740325428e-17,-2.1319527958601835e-07],"object_linear_velocity_m_s":[-8.963324649887048e-17,-1.0342214302739393e-16,6.7537862696413605e-15],"object_angular_velocity_rad_s":[6.775791276974761e-16,-2.1563462273611336e-15,-2.227340673775898e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322126655,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323570307,-1.592059601354623,1.3065911152808116,-1.3102027488991925,-1.5707950793621244,-0.4147139967754325,0.0],"actuator_force":[9.094947017729282e-10,-19.80784387040012,-20.28858508267922,-2.413346846651166,0.0006237153443180432,-4.419575816427823e-11,-0.2933611132312416],"issued_joint_targets_rad":[-1.9855103235702518,-1.5821556794200462,1.3167354078317068,-1.3053760552112692,-1.5707963267943812,-0.4147139967753756],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.899999999997181,"joint_targets_rad":[-1.9855103235702518,-1.5821556794200462,1.3167354078317068,-1.3053760552112692,-1.5707963267943812,-0.4147139967753756],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.91999999999717,"qpos":[-1.9855103235908145,-1.5821556796920888,1.316735408633746,-1.3053760559527767,-1.5707963267865963,-0.4147139967832382,0.0029336111692469294,0.00015630154940622285,0.003193479478764262,-0.003429298940267191,0.0029336110758052983,0.00015630111638927836,0.0031978493795901163,-0.0034379968909205795,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-7.360788807685079e-17,7.317401532129012e-17,-2.1361143058012507e-07],"qvel":[9.915053571510048e-11,1.3653087923392377e-09,-4.057964492757693e-09,3.734830246857802e-09,-3.2386163693577184e-11,3.9720965276107616e-11,-3.6454689559032755e-10,-1.2858470523340708e-09,1.4634705049154253e-09,-6.828762344485893e-11,5.721783709991255e-10,7.828959542133231e-10,-5.694680637595771e-10,-1.5513684065873883e-10,-1.109694891578019e-16,-9.836932435451958e-17,6.798195190626369e-15,1.8496552406229633e-15,6.114767848691061e-16,-4.0665615967420716e-08],"joint_position_rad":[-1.9855103235908145,-1.5821556796920888,1.316735408633746,-1.3053760559527767,-1.5707963267865963,-0.4147139967832382],"joint_velocity_rad_s":[9.915053571510048e-11,1.3653087923392377e-09,-4.057964492757693e-09,3.734830246857802e-09,-3.2386163693577184e-11,3.9720965276107616e-11],"linkage_position_rad":[0.0029336111692469294,0.00015630154940622285,0.003193479478764262,-0.003429298940267191,0.0029336110758052983,0.00015630111638927836,0.0031978493795901163,-0.0034379968909205795],"tcp_position_m":[0.06812348611258295,0.48730461894287447,0.43499999981859727],"tcp_quaternion_wxyz":[-4.3031963176846266e-11,0.7071067811910303,0.7071067811820644,9.926518272753786e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-7.360788807685079e-17,7.317401532129012e-17,-2.1361143058012507e-07],"object_linear_velocity_m_s":[-1.109694891578019e-16,-9.836932435451958e-17,6.798195190626369e-15],"object_angular_velocity_rad_s":[1.8496554959083246e-15,6.11475988667428e-16,-4.066561596742076e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221250373,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235702518,-1.5920596013545836,1.306591115280142,-1.3102027488982928,-1.5707950793621808,-0.41471399677537535,0.0],"actuator_force":[1.4651959645561874e-09,-19.80784387111271,-20.288585084022543,-2.4133468462409837,0.0006237154464088235,-4.0671466194908135e-11,-0.2933611132907688],"issued_joint_targets_rad":[-1.9855103235702012,-1.5821556794196008,1.3167354078309588,-1.3053760552105202,-1.5707963267944298,-0.41471399677532333],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.91999999999717,"joint_targets_rad":[-1.9855103235702012,-1.5821556794196008,1.3167354078309588,-1.3053760552105202,-1.5707963267944298,-0.41471399677532333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.939999999997159,"qpos":[-1.9855103235889273,-1.5821556796661307,1.3167354085566776,-1.3053760558818623,-1.5707963267873484,-0.4147139967824799,0.002933611169978939,0.00015630155343221566,0.0031934794748640265,-0.003429298940912958,0.0029336110749272385,0.0001563011137929829,0.0031978493817205076,-0.003437996890394866,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-4.612110203227107e-17,6.60356482717924e-17,-2.1398643925905502e-07],"qvel":[8.271619833784946e-11,1.237294183896594e-09,-3.673806888418184e-09,3.365253829867405e-09,-6.814992201342414e-11,3.6114028588742826e-11,-2.8088473894021155e-09,-1.6037944112713585e-08,1.5067552755847206e-08,1.3311845540916542e-09,1.929794662311432e-09,1.0322232293066684e-08,-9.909677990193277e-09,-7.111413309722094e-10,-1.1221522994690364e-16,-5.469144227469521e-17,6.935585289923733e-15,2.9244984520866246e-15,8.974312960826128e-16,-7.424514540949579e-08],"joint_position_rad":[-1.9855103235889273,-1.5821556796661307,1.3167354085566776,-1.3053760558818623,-1.5707963267873484,-0.4147139967824799],"joint_velocity_rad_s":[8.271619833784946e-11,1.237294183896594e-09,-3.673806888418184e-09,3.365253829867405e-09,-6.814992201342414e-11,3.6114028588742826e-11],"linkage_position_rad":[0.002933611169978939,0.00015630155343221566,0.0031934794748640265,-0.003429298940912958,0.0029336110749272385,0.0001563011137929829,0.0031978493817205076,-0.003437996890394866],"tcp_position_m":[0.06812348611212549,0.4873046189435754,0.43499999983607585],"tcp_quaternion_wxyz":[-3.909447528731555e-11,0.7071067811906312,0.7071067811824635,9.01719141212558e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-4.612110203227107e-17,6.60356482717924e-17,-2.1398643925905502e-07],"object_linear_velocity_m_s":[-1.1221522994690364e-16,-5.469144227469521e-17,6.935585289923733e-15],"object_angular_velocity_rad_s":[2.924498826356962e-15,8.974300376279774e-16,-7.424514540949588e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221264821,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235702012,-1.592059601354549,1.306591115279535,-1.3102027488974781,-1.5707950793622323,-0.41471399677532306,0.0],"actuator_force":[4.366029315860942e-09,-19.807843871753903,-20.288585084761962,-2.4133468443333186,0.0006237193730385115,-3.296918293926865e-11,-0.2933611078500452],"issued_joint_targets_rad":[-1.9855103235701557,-1.5821556794191975,1.3167354078302829,-1.3053760552098435,-1.5707963267944742,-0.41471399677527593],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.939999999997159,"joint_targets_rad":[-1.9855103235701557,-1.5821556794191975,1.3167354078302829,-1.3053760552098435,-1.5707963267944742,-0.41471399677527593],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.959999999997148,"qpos":[-1.9855103235872038,-1.5821556796426062,1.3167354084869445,-1.3053760558176457,-1.5707963267879999,-0.4147139967817896,0.002933611170738325,0.00015630156084909426,0.003193479469029705,-0.003429298942615399,0.0029336110750519404,0.00015630110889589755,0.0031978493862712966,-0.00343799688985206,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,-2.5856155809553372e-17,5.0363613322420296e-17,-2.142680687807764e-07],"qvel":[8.415311607385246e-11,1.1214093684193013e-09,-3.3214023380121996e-09,3.0624256966608832e-09,-2.6536184482183435e-11,3.290157248395696e-11,9.157066940060803e-10,4.8952058775490654e-09,-4.7280917597123905e-09,-3.965317321818194e-10,-7.785066060183463e-10,-3.1446536580874902e-09,2.963559370110333e-09,2.793633686714571e-10,-6.349540644784618e-17,-3.4438666102375077e-17,7.034117583359216e-15,1.2249550404500264e-15,-2.4871327066684836e-15,-8.04385349919181e-09],"joint_position_rad":[-1.9855103235872038,-1.5821556796426062,1.3167354084869445,-1.3053760558176457,-1.5707963267879999,-0.4147139967817896],"joint_velocity_rad_s":[8.415311607385246e-11,1.1214093684193013e-09,-3.3214023380121996e-09,3.0624256966608832e-09,-2.6536184482183435e-11,3.290157248395696e-11],"linkage_position_rad":[0.002933611170738325,0.00015630156084909426,0.003193479469029705,-0.003429298942615399,0.0029336110750519404,0.00015630110889589755,0.0031978493862712966,-0.00343799688985206],"tcp_position_m":[0.06812348611169584,0.4873046189442106,0.4349999998518683],"tcp_quaternion_wxyz":[-3.552912294436924e-11,0.7071067811902659,0.7071067811828283,8.189750463301795e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,-2.5856155809553372e-17,5.0363613322420296e-17,-2.142680687807764e-07],"object_linear_velocity_m_s":[-6.349540644784618e-17,-3.4438666102375077e-17,7.034117583359216e-15],"object_angular_velocity_rad_s":[1.224953973813437e-15,-2.4871332320217263e-15,-8.043853499191823e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221279068,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235701557,-1.592059601354518,1.306591115278987,-1.3102027488967412,-1.5707950793622785,-0.4147139967752757,0.0],"actuator_force":[4.3519321479834616e-10,-19.807843872387366,-20.288585087354022,-2.413346845790329,0.0006237155141661788,-3.319655661471188e-11,-0.29336111297551365],"issued_joint_targets_rad":[-1.9855103235701144,-1.582155679418832,1.3167354078296691,-1.3053760552092293,-1.5707963267945138,-0.41471399677523296],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.959999999997148,"joint_targets_rad":[-1.9855103235701144,-1.582155679418832,1.3167354078296691,-1.3053760552092293,-1.5707963267945138,-0.41471399677523296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.979999999997137,"qpos":[-1.9855103235856448,-1.5821556796212866,1.3167354084238438,-1.3053760557595238,-1.5707963267886351,-0.41471399678116133,0.002933611169406497,0.00015630155089233456,0.003193479477711259,-0.003429298940750833,0.0029336110760547368,0.00015630111540972975,0.003197849380632233,-0.0034379968909331723,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,2.4816142912714784e-18,4.811606650292292e-17,-2.1472520380928692e-07],"qvel":[7.646309207768411e-11,1.0162518170248383e-09,-3.0055806070247036e-09,2.7738309033098147e-09,-2.0374100073964718e-11,2.995202445595947e-11,2.1041165752936439e-10,1.990304627369785e-09,-1.7015937452532558e-09,-3.4063146897653116e-10,3.491515316727492e-11,-1.3094617284622698e-09,1.3316221622391298e-09,6.056104409568017e-11,-6.063301313318648e-17,3.1925201895711275e-19,4.816447091670465e-15,9.841458911143335e-16,-1.857446845628212e-15,-1.4686045163525785e-08],"joint_position_rad":[-1.9855103235856448,-1.5821556796212866,1.3167354084238438,-1.3053760557595238,-1.5707963267886351,-0.41471399678116133],"joint_velocity_rad_s":[7.646309207768411e-11,1.0162518170248383e-09,-3.0055806070247036e-09,2.7738309033098147e-09,-2.0374100073964718e-11,2.995202445595947e-11],"linkage_position_rad":[0.002933611169406497,0.00015630155089233456,0.003193479477711259,-0.003429298940750833,0.0029336110760547368,0.00015630111540972975,0.003197849380632233,-0.0034379968909331723],"tcp_position_m":[0.06812348611132023,0.48730461894478583,0.4349999998661418],"tcp_quaternion_wxyz":[-3.2273381611081295e-11,0.7071067811899369,0.7071067811831574,7.43969873870642e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,2.4816142912714784e-18,4.811606650292292e-17,-2.1472520380928692e-07],"object_linear_velocity_m_s":[-6.063301313318648e-17,3.1925201895711275e-19,4.816447091670465e-15],"object_angular_velocity_rad_s":[9.8414509201967e-16,-1.857447268197008e-15,-1.4686045163525811e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135132212522,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235701144,-1.5920596013544903,1.306591115278489,-1.3102027488960724,-1.57079507936232,-0.41471399677523274,0.0],"actuator_force":[4.75210981676355e-10,-19.807843872908506,-20.288585088477248,-2.4133468456573155,0.0006237151949335384,-3.0894398150849156e-11,-0.2933611134996958],"issued_joint_targets_rad":[-1.9855103235700768,-1.5821556794185017,1.3167354078291151,-1.3053760552086744,-1.5707963267945497,-0.4147139967751945],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.979999999997137,"joint_targets_rad":[-1.9855103235700768,-1.5821556794185017,1.3167354078291151,-1.3053760552086744,-1.5707963267945497,-0.4147139967751945],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.999999999997126,"qpos":[-1.9855103235842224,-1.5821556796019651,1.3167354083667493,-1.305376055706902,-1.5707963267892169,-0.4147139967805895,0.002933611168569811,0.0001563015457846824,0.003193479482534665,-0.003429298940631154,0.002933611076434982,0.0001563011186387867,0.0031978493773092906,-0.0034379968908905584,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,3.214822602900826e-17,3.524730220497891e-17,-2.1518204521791448e-07],"qvel":[6.549646020490228e-11,9.209437462878234e-10,-2.72119592183925e-09,2.5055681760925607e-09,-3.050691897111733e-11,2.7248776552858235e-11,-1.3561547183824324e-09,-7.171501863603935e-09,7.0501951977423375e-09,4.201705189942273e-10,1.3089580999255602e-09,4.544709877480533e-09,-4.138769705514633e-09,-4.3198820687061714e-10,-4.6816003925637175e-17,4.252078926575144e-17,5.3354763556827255e-15,1.0323135625219421e-15,-1.3322103591068717e-15,-2.681300978031031e-08],"joint_position_rad":[-1.9855103235842224,-1.5821556796019651,1.3167354083667493,-1.305376055706902,-1.5707963267892169,-0.4147139967805895],"joint_velocity_rad_s":[6.549646020490228e-11,9.209437462878234e-10,-2.72119592183925e-09,2.5055681760925607e-09,-3.050691897111733e-11,2.7248776552858235e-11],"linkage_position_rad":[0.002933611168569811,0.0001563015457846824,0.003193479482534665,-0.003429298940631154,0.002933611076434982,0.0001563011186387867,0.0031978493773092906,-0.0034379968908905584],"tcp_position_m":[0.06812348611097621,0.4873046189453066,0.4349999998790386],"tcp_quaternion_wxyz":[-2.9312766439163054e-11,0.7071067811896361,0.7071067811834579,6.75823048784335e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,3.214822602900826e-17,3.524730220497891e-17,-2.1518204521791448e-07],"object_linear_velocity_m_s":[-4.6816003925637175e-17,4.252078926575144e-17,5.3354763556827255e-15],"object_angular_velocity_rad_s":[1.032312987296177e-15,-1.3322108016534565e-15,-2.681300978031036e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221239733,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235700768,-1.5920596013544661,1.3065911152780396,-1.3102027488954682,-1.570795079362358,-0.4147139967751943,0.0],"actuator_force":[2.0922925614286214e-09,-19.807843873379625,-20.28858508894109,-2.413346844839907,0.0006237164801632389,-2.7284841053187847e-11,-0.2933611120142566],"issued_joint_targets_rad":[-1.9855103235700429,-1.5821556794182021,1.3167354078286124,-1.305376055208171,-1.5707963267945824,-0.4147139967751596],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.999999999997126,"joint_targets_rad":[-1.9855103235700429,-1.5821556794182021,1.3167354078286124,-1.305376055208171,-1.5707963267945824,-0.4147139967751596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.019999999997115,"qpos":[-1.985510323582914,-1.5821556795844551,1.3167354083150922,-1.305376055659236,-1.570796326789693,-0.4147139967800692,0.0029336111717604067,0.00015630156569349177,0.003193479464417961,-0.0034292989431231025,0.0029336110742551554,0.00015630110578183137,0.0031978493891919152,-0.0034379968895862927,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999778,5.61250459786753e-17,4.043481426267404e-17,-2.1562041942572837e-07],"qvel":[6.387412923841774e-11,8.346764971820704e-10,-2.4603991717710484e-09,2.2727611980958144e-09,-2.0472910496178252e-11,2.4797473324927465e-11,1.078964034755221e-09,5.271109740355755e-09,-5.179209655494206e-09,-3.6016646295932514e-10,-9.918198522531523e-10,-3.38304931068195e-09,3.1725294755662443e-09,3.2012006349386236e-10,-7.234617612512784e-17,9.227150455916164e-17,5.3729463827638276e-15,2.3944138148659373e-15,1.103889952635402e-15,-4.8953784730572945e-08],"joint_position_rad":[-1.985510323582914,-1.5821556795844551,1.3167354083150922,-1.305376055659236,-1.570796326789693,-0.4147139967800692],"joint_velocity_rad_s":[6.387412923841774e-11,8.346764971820704e-10,-2.4603991717710484e-09,2.2727611980958144e-09,-2.0472910496178252e-11,2.4797473324927465e-11],"linkage_position_rad":[0.0029336111717604067,0.00015630156569349177,0.003193479464417961,-0.0034292989431231025,0.0029336110742551554,0.00015630110578183137,0.0031978493891919152,-0.0034379968895862927],"tcp_position_m":[0.06812348611064015,0.4873046189457787,0.43499999989068805],"tcp_quaternion_wxyz":[-2.6642136886213627e-11,0.7071067811893575,0.7071067811837369,6.136805494878408e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999778,5.61250459786753e-17,4.043481426267404e-17,-2.1562041942572837e-07],"object_linear_velocity_m_s":[-7.234617612512784e-17,9.227150455916164e-17,5.3729463827638276e-15],"object_angular_velocity_rad_s":[2.3944142869492755e-15,1.1038889255613472e-15,-4.8953784730573044e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"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":[-1.9855103235700429,-1.5920596013544444,1.3065911152776315,-1.3102027488949197,-1.5707950793623924,-0.4147139967751594,0.0],"actuator_force":[1.9281287677586079e-10,-19.807843873848924,-20.2885850907619,-2.413346845117985,0.000623715697543048,-2.4840574042173102e-11,-0.293361112736499],"issued_joint_targets_rad":[-1.9855103235700124,-1.5821556794179317,1.3167354078281581,-1.305376055207716,-1.5707963267946121,-0.4147139967751276],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.019999999997115,"joint_targets_rad":[-1.9855103235700124,-1.5821556794179317,1.3167354078281581,-1.305376055207716,-1.5707963267946121,-0.4147139967751276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.039999999997104,"qpos":[-1.985510323581737,-1.5821556795685874,1.3167354082683453,-1.3053760556161018,-1.5707963267901721,-0.4147139967795957,0.0029336111699382024,0.00015630155432256096,0.0031934794746977346,-0.003429298941342315,0.0029336110758514094,0.000156301113191804,0.003197849382742899,-0.003437996890769821,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,5.727028301972534e-17,3.880700024709504e-17,-2.1594762580916773e-07],"qvel":[5.878134049199527e-11,7.563862682981183e-10,-2.226136755692371e-09,2.0595339427021935e-09,-1.394410538602382e-11,2.257370921904909e-11,6.033836550464656e-10,3.921923298657485e-09,-3.6268830250939015e-09,-4.680540787244052e-10,-3.972763280905548e-10,-2.5364354157999146e-09,2.411897463149362e-09,2.168953258302333e-10,-8.046132174865839e-17,1.263234605381719e-16,6.011324621923292e-15,3.338141717024884e-15,1.5965220716636096e-15,-8.937724854770987e-08],"joint_position_rad":[-1.985510323581737,-1.5821556795685874,1.3167354082683453,-1.3053760556161018,-1.5707963267901721,-0.4147139967795957],"joint_velocity_rad_s":[5.878134049199527e-11,7.563862682981183e-10,-2.226136755692371e-09,2.0595339427021935e-09,-1.394410538602382e-11,2.257370921904909e-11],"linkage_position_rad":[0.0029336111699382024,0.00015630155432256096,0.0031934794746977346,-0.003429298941342315,0.0029336110758514094,0.000156301113191804,0.003197849382742899,-0.003437996890769821],"tcp_position_m":[0.06812348611035356,0.4873046189462061,0.4349999999012202],"tcp_quaternion_wxyz":[-2.4199144903732435e-11,0.7071067811891089,0.7071067811839858,5.574347057566728e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,5.727028301972534e-17,3.880700024709504e-17,-2.1594762580916773e-07],"object_linear_velocity_m_s":[-8.046132174865839e-17,1.263234605381719e-16,6.011324621923292e-15],"object_angular_velocity_rad_s":[3.338142399617951e-15,1.596520640173226e-15,-8.937724854770987e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221260865,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235700124,-1.5920596013544257,1.3065911152772627,-1.310202748894424,-1.5707950793624235,-0.41471399677512744,0.0],"actuator_force":[-6.320988177321851e-11,-19.80784387423091,-20.2885850917105,-2.413346845114347,0.0006237152687162961,-2.3248958314070478e-11,-0.29336111332001724],"issued_joint_targets_rad":[-1.9855103235699845,-1.582155679417686,1.3167354078277467,-1.3053760552073048,-1.570796326794639,-0.41471399677509846],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.039999999997104,"joint_targets_rad":[-1.9855103235699845,-1.582155679417686,1.3167354078277467,-1.3053760552073048,-1.570796326794639,-0.41471399677509846],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.059999999997093,"qpos":[-1.9855103235806604,-1.5821556795542076,1.3167354082260492,-1.305376055577048,-1.5707963267906093,-0.4147139967791648,0.002933611171682885,0.0001563015622932025,0.0031934794667249945,-0.0034292989416155164,0.0029336110738294643,0.00015630110825514266,0.003197849386796146,-0.00343799689009629,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,5.247549487342645e-17,3.2593777820266595e-17,-2.1628665500255714e-07],"qvel":[4.9791104483504265e-11,6.854510399255408e-10,-2.0157618862799153e-09,1.8595793373152733e-09,-2.3088301607584784e-11,2.0537269532223142e-11,-5.820882417583754e-10,-2.9961433083859667e-09,2.9366430592284927e-09,3.1228503051683935e-10,5.425542801943412e-10,1.9577896442673286e-09,-1.8529232775284813e-09,-2.1935586153766537e-10,-4.073988454917519e-17,6.329250053089792e-17,6.315248174914427e-15,-2.020409956588413e-15,-1.4078968922733828e-15,-9.683292954891046e-09],"joint_position_rad":[-1.9855103235806604,-1.5821556795542076,1.3167354082260492,-1.305376055577048,-1.5707963267906093,-0.4147139967791648],"joint_velocity_rad_s":[4.9791104483504265e-11,6.854510399255408e-10,-2.0157618862799153e-09,1.8595793373152733e-09,-2.3088301607584784e-11,2.0537269532223142e-11],"linkage_position_rad":[0.002933611171682885,0.0001563015622932025,0.0031934794667249945,-0.0034292989416155164,0.0029336110738294643,0.00015630110825514266,0.003197849386796146,-0.00343799689009629],"tcp_position_m":[0.06812348611008892,0.48730461894659266,0.43499999991073557],"tcp_quaternion_wxyz":[-2.1978205620590977e-11,0.7071067811888805,0.7071067811842142,5.0632065495864934e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,5.247549487342645e-17,3.2593777820266595e-17,-2.1628665500255714e-07],"object_linear_velocity_m_s":[-4.073988454917519e-17,6.329250053089792e-17,6.315248174914427e-15],"object_angular_velocity_rad_s":[-2.020410566238073e-15,-1.4078960172815575e-15,-9.683292954891047e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221290529,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235699845,-1.5920596013544084,1.3065911152769287,-1.3102027488939758,-1.570795079362452,-0.4147139967750983,0.0],"actuator_force":[1.4351826393976808e-09,-19.807843874581977,-20.288585091936056,-2.4133468444218806,0.0006237163875084661,-2.0463630789890885e-11,-0.29336111207794763],"issued_joint_targets_rad":[-1.9855103235699592,-1.5821556794174643,1.3167354078273743,-1.3053760552069316,-1.5707963267946632,-0.4147139967750728],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.059999999997093,"joint_targets_rad":[-1.9855103235699592,-1.5821556794174643,1.3167354078273743,-1.3053760552069316,-1.5707963267946632,-0.4147139967750728],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.079999999997082,"qpos":[-1.985510323579674,-1.5821556795411758,1.3167354081877793,-1.3053760555416758,-1.5707963267909728,-0.41471399677877274,0.0029336111738615988,0.00015630157275832717,0.00319347945620019,-0.0034292989420927093,0.002933611072253006,0.00015630110141984121,0.0031978493939794884,-0.0034379968899227844,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,6.376943440075764e-17,3.724177132523099e-17,-2.1677550604813896e-07],"qvel":[4.837215719004114e-11,6.212135847857396e-10,-1.8226428402694366e-09,1.6865768196509063e-09,-1.6034045460479767e-11,1.8685735309418808e-11,1.0620171980944662e-09,4.987527599829178e-09,-4.900228785410171e-09,-3.6457617208392087e-10,-1.0123790125168632e-09,-3.2231195953905524e-09,2.9858003916246307e-09,3.447687398936339e-10,-4.74216079586344e-17,7.973464568790396e-17,6.441536043965539e-15,-1.6645229697910277e-15,-1.0527544266636053e-15,-1.7679247599607895e-08],"joint_position_rad":[-1.985510323579674,-1.5821556795411758,1.3167354081877793,-1.3053760555416758,-1.5707963267909728,-0.41471399677877274],"joint_velocity_rad_s":[4.837215719004114e-11,6.212135847857396e-10,-1.8226428402694366e-09,1.6865768196509063e-09,-1.6034045460479767e-11,1.8685735309418808e-11],"linkage_position_rad":[0.0029336111738615988,0.00015630157275832717,0.00319347945620019,-0.0034292989420927093,0.002933611072253006,0.00015630110141984121,0.0031978493939794884,-0.0034379968899227844],"tcp_position_m":[0.06812348610983454,0.4873046189469431,0.43499999991933214],"tcp_quaternion_wxyz":[-1.9973120688475786e-11,0.7071067811886703,0.7071067811844239,4.59751646184201e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,6.376943440075764e-17,3.724177132523099e-17,-2.1677550604813896e-07],"object_linear_velocity_m_s":[-4.74216079586344e-17,7.973464568790396e-17,6.441536043965539e-15],"object_angular_velocity_rad_s":[-1.6645234275304317e-15,-1.052753702753097e-15,-1.7679247599607902e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221318072,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235699592,-1.5920596013543937,1.3065911152766263,-1.3102027488935688,-1.5707950793624776,-0.4147139967750727,0.0],"actuator_force":[8.094502845779061e-11,-19.80784387492122,-20.288585093248457,-2.4133468446041206,0.0006237158510202789,-1.8559376258053817e-11,-0.2933611125539211],"issued_joint_targets_rad":[-1.9855103235699363,-1.5821556794172633,1.316735407827037,-1.3053760552065934,-1.5707963267946852,-0.41471399677504855],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.079999999997082,"joint_targets_rad":[-1.9855103235699363,-1.5821556794172633,1.316735407827037,-1.3053760552065934,-1.5707963267946852,-0.41471399677504855],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.09999999999707,"qpos":[-1.9855103235787843,-1.5821556795293668,1.3167354081531482,-1.3053760555096636,-1.5707963267913314,-0.41471399677841586,0.0029336111708968718,0.0001563015591606419,0.0031934794699207806,-0.0034292989417758326,0.002933611075126437,0.00015630111005903198,0.0031978493858623672,-0.003437996890571661,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,9.987234388666995e-17,4.922735219524597e-17,-2.1720348582311568e-07],"qvel":[4.5015197630512486e-11,5.629456437277647e-10,-1.6488758685471133e-09,1.5288211887224431e-09,-1.0380824920884076e-11,1.7010319341671794e-11,8.513747206022669e-10,4.9115354484088374e-09,-4.6303065126619324e-09,-5.241953134691641e-10,-7.017182327349495e-10,-3.1639989956462233e-09,2.9299491813123107e-09,3.257218350257448e-10,-7.20927683058112e-17,1.4512336483356474e-16,6.531741664716334e-15,1.631314084539331e-15,2.324884718596546e-16,-3.227784155083148e-08],"joint_position_rad":[-1.9855103235787843,-1.5821556795293668,1.3167354081531482,-1.3053760555096636,-1.5707963267913314,-0.41471399677841586],"joint_velocity_rad_s":[4.5015197630512486e-11,5.629456437277647e-10,-1.6488758685471133e-09,1.5288211887224431e-09,-1.0380824920884076e-11,1.7010319341671794e-11],"linkage_position_rad":[0.0029336111708968718,0.0001563015591606419,0.0031934794699207806,-0.0034292989417758326,0.002933611075126437,0.00015630111005903198,0.0031978493858623672,-0.003437996890571661],"tcp_position_m":[0.06812348610961445,0.48730461894726074,0.43499999992710325],"tcp_quaternion_wxyz":[-1.814142419971476e-11,0.7071067811884821,0.7071067811846126,4.1757183381048784e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,9.987234388666995e-17,4.922735219524597e-17,-2.1720348582311568e-07],"object_linear_velocity_m_s":[-7.20927683058112e-17,1.4512336483356474e-16,6.531741664716334e-15],"object_angular_velocity_rad_s":[1.631314182355887e-15,2.324877696527496e-16,-3.227784155083149e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322127483,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235699363,-1.5920596013543804,1.3065911152763525,-1.3102027488931998,-1.5707950793625005,-0.41471399677504844,0.0],"actuator_force":[-3.1013769330456853e-10,-19.807843875205435,-20.288585094041082,-2.41334684465005,0.0006237154535710943,-1.7337242752546445e-11,-0.29336111304944784],"issued_joint_targets_rad":[-1.9855103235699159,-1.5821556794170812,1.3167354078267317,-1.3053760552062879,-1.570796326794705,-0.41471399677502746],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.09999999999707,"joint_targets_rad":[-1.9855103235699159,-1.5821556794170812,1.3167354078267317,-1.3053760552062879,-1.570796326794705,-0.41471399677502746],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.11999999999706,"qpos":[-1.9855103235779732,-1.582155679518665,1.3167354081218132,-1.3053760554806833,-1.5707963267916667,-0.4147139967780912,0.0029336111716549707,0.00015630156234266003,0.003193479466831879,-0.003429298941704531,0.0029336110740640882,0.00015630110816538894,0.0031978493869945813,-0.003437996890188085,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.1353274809291894e-16,5.620514098624201e-17,-2.1760344509842776e-07],"qvel":[3.901275830416665e-11,5.101188252337135e-10,-1.4929243882965098e-09,1.3827247757503411e-09,-1.1129076601260133e-11,1.5479677078004048e-11,2.5503879953212293e-11,4.016747663360526e-10,-3.1663212732635405e-10,7.719734694532319e-12,1.0075215419796794e-10,-2.6406125204453596e-10,3.20761703175203e-10,-5.3684190066953295e-11,-1.0041044625751261e-16,1.909724288720497e-16,6.61362061278244e-15,3.0856480666535076e-15,2.0851524994776963e-15,-5.89311875016499e-08],"joint_position_rad":[-1.9855103235779732,-1.582155679518665,1.3167354081218132,-1.3053760554806833,-1.5707963267916667,-0.4147139967780912],"joint_velocity_rad_s":[3.901275830416665e-11,5.101188252337135e-10,-1.4929243882965098e-09,1.3827247757503411e-09,-1.1129076601260133e-11,1.5479677078004048e-11],"linkage_position_rad":[0.0029336111716549707,0.00015630156234266003,0.003193479466831879,-0.003429298941704531,0.0029336110740640882,0.00015630110816538894,0.0031978493869945813,-0.003437996890188085],"tcp_position_m":[0.06812348610941496,0.4873046189475479,0.434999999934125],"tcp_quaternion_wxyz":[-1.6473261782607905e-11,0.7071067811883099,0.7071067811847845,3.792790823563488e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.1353274809291894e-16,5.620514098624201e-17,-2.1760344509842776e-07],"object_linear_velocity_m_s":[-1.0041044625751261e-16,1.909724288720497e-16,6.61362061278244e-15],"object_angular_velocity_rad_s":[3.0856489675014836e-15,2.0851511699634416e-15,-5.893118750164994e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322128874,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235699159,-1.5920596013543686,1.3065911152761045,-1.3102027488928665,-1.5707950793625216,-0.41471399677502735,0.0],"actuator_force":[5.093170329928398e-10,-19.807843875454637,-20.288585094247537,-2.4133468443641277,0.0006237156853785564,-1.602984411874786e-11,-0.29336111291723316],"issued_joint_targets_rad":[-1.9855103235698972,-1.582155679416917,1.3167354078264557,-1.3053760552060119,-1.5707963267947234,-0.41471399677500775],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.11999999999706,"joint_targets_rad":[-1.9855103235698972,-1.582155679416917,1.3167354078264557,-1.3053760552060119,-1.5707963267947234,-0.41471399677500775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.139999999997048,"qpos":[-1.985510323577232,-1.582155679508967,1.3167354080934608,-1.305376055454441,-1.5707963267919622,-0.41471399677779575,0.0029336111720885977,0.00015630156315631075,0.0031934794654180964,-0.0034292989413828323,0.002933611073518672,0.00015630110766573865,0.003197849387777723,-0.0034379968903410045,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,9.866555838248179e-17,4.902016641503535e-17,-2.178775895074377e-07],"qvel":[3.052210447570789e-11,4.622492195933116e-10,-1.3520881746479586e-09,1.2409431465505564e-09,-3.6588935664879245e-11,1.4058286139377982e-11,-1.7151975001354248e-09,-9.268663591363414e-09,8.7832800949389e-09,8.24231368704589e-10,1.1278246251171922e-09,6.071616244688735e-09,-6.042794789442286e-09,-3.848956870506946e-10,-1.0526587963704026e-16,2.8900216377314717e-16,6.68856066694464e-15,1.0327803453241103e-14,1.86533258239545e-15,-1.0759346639971002e-07],"joint_position_rad":[-1.985510323577232,-1.582155679508967,1.3167354080934608,-1.305376055454441,-1.5707963267919622,-0.41471399677779575],"joint_velocity_rad_s":[3.052210447570789e-11,4.622492195933116e-10,-1.3520881746479586e-09,1.2409431465505564e-09,-3.6588935664879245e-11,1.4058286139377982e-11],"linkage_position_rad":[0.0029336111720885977,0.00015630156315631075,0.0031934794654180964,-0.0034292989413828323,0.002933611073518672,0.00015630110766573865,0.003197849387777723,-0.0034379968903410045],"tcp_position_m":[0.0681234861092285,0.48730461894780763,0.43499999994046945],"tcp_quaternion_wxyz":[-1.496113680236762e-11,0.7071067811881525,0.7071067811849422,3.444488343870672e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,9.866555838248179e-17,4.902016641503535e-17,-2.178775895074377e-07],"object_linear_velocity_m_s":[-1.0526587963704026e-16,2.8900216377314717e-16,6.68856066694464e-15],"object_angular_velocity_rad_s":[1.0327804255519969e-14,1.865328103232973e-15,-1.0759346639971011e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221293152,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235698972,-1.5920596013543586,1.3065911152758805,-1.3102027488925654,-1.5707950793625414,-0.41471399677500764,0.0],"actuator_force":[2.460183168295771e-09,-19.80784387568292,-20.288585094325754,-2.413346843156546,0.0006237183692974213,-1.1766587704187259e-11,-0.2933611093434991],"issued_joint_targets_rad":[-1.9855103235698803,-1.5821556794167677,1.3167354078262055,-1.3053760552057612,-1.5707963267947398,-0.4147139967749906],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.139999999997048,"joint_targets_rad":[-1.9855103235698803,-1.5821556794167677,1.3167354078262055,-1.3053760552057612,-1.5707963267947398,-0.4147139967749906],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.159999999997037,"qpos":[-1.985510323576554,-1.582155679500179,1.316735408067807,-1.3053760554306726,-1.5707963267922078,-0.41471399677752696,0.0029336111718399824,0.00015630156406657304,0.0031934794653283097,-0.003429298942374995,0.0029336110743511173,0.00015630110686968708,0.0031978493887883305,-0.0034379968902264585,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.0432671858709265e-16,3.950072681272495e-17,-2.1828571715424026e-07],"qvel":[3.4308600487965813e-11,4.1895194026738297e-10,-1.2213703979049521e-09,1.134617295309885e-09,-8.260813697078828e-12,1.2810961824634276e-11,1.0297556515881318e-09,5.353371988532588e-09,-5.145137275664486e-09,-4.905072787328244e-10,-9.330505919260451e-10,-3.440262364509798e-09,3.1661660852784628e-09,3.7464099622162355e-10,-5.191140651560525e-17,1.2834987506810996e-16,6.749622933299024e-15,-3.676595941211327e-15,-2.0121553451172405e-15,-1.1656870983497497e-08],"joint_position_rad":[-1.985510323576554,-1.582155679500179,1.316735408067807,-1.3053760554306726,-1.5707963267922078,-0.41471399677752696],"joint_velocity_rad_s":[3.4308600487965813e-11,4.1895194026738297e-10,-1.2213703979049521e-09,1.134617295309885e-09,-8.260813697078828e-12,1.2810961824634276e-11],"linkage_position_rad":[0.0029336111718399824,0.00015630156406657304,0.0031934794653283097,-0.003429298942374995,0.0029336110743511173,0.00015630110686968708,0.0031978493887883305,-0.0034379968902264585],"tcp_position_m":[0.06812348610905039,0.4873046189480436,0.4349999999462014],"tcp_quaternion_wxyz":[-1.359646933380446e-11,0.7071067811880077,0.7071067811850867,3.127245159444453e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.0432671858709265e-16,3.950072681272495e-17,-2.1828571715424026e-07],"object_linear_velocity_m_s":[-5.191140651560525e-17,1.2834987506810996e-16,6.749622933299024e-15],"object_angular_velocity_rad_s":[-3.676596820581435e-15,-2.012153737588041e-15,-1.165687098349751e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221288927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235698803,-1.5920596013543493,1.306591115275677,-1.3102027488922916,-1.5707950793625582,-0.4147139967749905,0.0],"actuator_force":[-3.7562131183221936e-10,-19.807843875921208,-20.288585095711824,-2.4133468442712456,0.0006237156508177577,-1.2875034371973015e-11,-0.29336111279308025],"issued_joint_targets_rad":[-1.9855103235698646,-1.5821556794166325,1.3167354078259792,-1.305376055205535,-1.5707963267947542,-0.4147139967749741],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.159999999997037,"joint_targets_rad":[-1.9855103235698646,-1.5821556794166325,1.3167354078259792,-1.305376055205535,-1.5707963267947542,-0.4147139967749741],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.179999999997026,"qpos":[-1.985510323575943,-1.582155679492215,1.3167354080445923,-1.305376055409167,-1.570796326792462,-0.4147139967772824,0.0029336111720001524,0.00015630156439672407,0.003193479464981403,-0.0034292989419548213,0.0029336110739319942,0.0001563011068063733,0.003197849388326057,-0.003437996890134946,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.0267827053491789e-16,4.026989358578214e-17,-2.187487674278705e-07],"qvel":[3.0441267061908945e-11,3.7961437439100667e-10,-1.1056318098813997e-09,1.027490703479087e-09,-5.695960067502653e-12,1.1664108982145767e-11,4.309672765115588e-10,2.4756928981763077e-09,-2.3732684033581547e-09,-1.4601360601919366e-10,-2.795971265070696e-10,-1.6041746108564842e-09,1.5857148055177008e-09,7.477277314692082e-11,-5.34631003324632e-17,1.32765545805891e-16,6.795419633064813e-15,-2.7981562773187047e-15,-9.806365649354837e-16,-2.1282502689321288e-08],"joint_position_rad":[-1.985510323575943,-1.582155679492215,1.3167354080445923,-1.305376055409167,-1.570796326792462,-0.4147139967772824],"joint_velocity_rad_s":[3.0441267061908945e-11,3.7961437439100667e-10,-1.1056318098813997e-09,1.027490703479087e-09,-5.695960067502653e-12,1.1664108982145767e-11],"linkage_position_rad":[0.0029336111720001524,0.00015630156439672407,0.003193479464981403,-0.0034292989419548213,0.0029336110739319942,0.0001563011068063733,0.003197849388326057,-0.003437996890134946],"tcp_position_m":[0.06812348610889926,0.48730461894825683,0.4349999999513834],"tcp_quaternion_wxyz":[-1.2344963110978726e-11,0.7071067811878781,0.7071067811852162,2.840367714005731e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.0267827053491789e-16,4.026989358578214e-17,-2.187487674278705e-07],"object_linear_velocity_m_s":[-5.34631003324632e-17,1.32765545805891e-16,6.795419633064813e-15],"object_angular_velocity_rad_s":[-2.7981567080586077e-15,-9.806353363784162e-16,-2.1282502689321318e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221293543,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235698646,-1.5920596013543409,1.3065911152754932,-1.3102027488920445,-1.5707950793625736,-0.41471399677497406,0.0],"actuator_force":[-1.9554136088117957e-11,-19.80784387609765,-20.288585095945564,-2.4133468441877994,0.0006237155138251183,-1.2249756764504127e-11,-0.2933611130534581],"issued_joint_targets_rad":[-1.985510323569851,-1.5821556794165104,1.3167354078257736,-1.305376055205329,-1.5707963267947678,-0.4147139967749603],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.179999999997026,"joint_targets_rad":[-1.985510323569851,-1.5821556794165104,1.3167354078257736,-1.305376055205329,-1.5707963267947678,-0.4147139967749603],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.199999999997015,"qpos":[-1.985510323575386,-1.5821556794849985,1.316735408023587,-1.3053760553896958,-1.5707963267926939,-0.41471399677705983,0.002933611171301338,0.0001563015592876118,0.0031934794693622855,-0.0034292989412363617,0.002933611074319659,0.00015630111015851278,0.003197849385374559,-0.0034379968905590614,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.24515863700071e-16,2.6425982393248126e-17,-2.1920192692060144e-07],"qvel":[2.502224480940352e-11,3.439936806724742e-10,-1.0014548336007423e-09,9.263851905459073e-10,-1.3399532221493046e-11,1.060335106707266e-11,-6.981834627528074e-10,-3.452859509575868e-09,3.436239324272732e-09,2.4305990358062965e-10,6.574508449110531e-10,2.2331045412048854e-09,-2.1261953588485943e-09,-1.9923432081664727e-10,-3.3877085523218845e-17,1.8273942771709597e-16,6.941136405046866e-15,1.0354240124083634e-15,-1.3710580838871038e-15,-3.8856475409410374e-08],"joint_position_rad":[-1.985510323575386,-1.5821556794849985,1.316735408023587,-1.3053760553896958,-1.5707963267926939,-0.41471399677705983],"joint_velocity_rad_s":[2.502224480940352e-11,3.439936806724742e-10,-1.0014548336007423e-09,9.263851905459073e-10,-1.3399532221493046e-11,1.060335106707266e-11],"linkage_position_rad":[0.002933611171301338,0.0001563015592876118,0.0031934794693622855,-0.0034292989412363617,0.002933611074319659,0.00015630111015851278,0.003197849385374559,-0.0034379968905590614],"tcp_position_m":[0.06812348610876066,0.48730461894844973,0.4349999999560661],"tcp_quaternion_wxyz":[-1.1207883424012661e-11,0.7071067811877598,0.7071067811853347,2.579762515903875e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.24515863700071e-16,2.6425982393248126e-17,-2.1920192692060144e-07],"object_linear_velocity_m_s":[-3.3877085523218845e-17,1.8273942771709597e-16,6.941136405046866e-15],"object_angular_velocity_rad_s":[1.0354234092774785e-15,-1.3710585281443557e-15,-3.885647540941043e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322128118,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569851,-1.592059601354334,1.306591115275326,-1.3102027488918198,-1.5707950793625878,-0.41471399677496024,0.0],"actuator_force":[1.0609255696181208e-09,-19.807843876268635,-20.288585095939652,-2.413346843700424,0.0006237163929654344,-1.0544454198679887e-11,-0.2933611120773868],"issued_joint_targets_rad":[-1.9855103235698384,-1.5821556794164002,1.316735407825589,-1.3053760552051439,-1.5707963267947798,-0.41471399677494725],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.199999999997015,"joint_targets_rad":[-1.9855103235698384,-1.5821556794164002,1.316735407825589,-1.3053760552051439,-1.5707963267947798,-0.41471399677494725],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.219999999997004,"qpos":[-1.9855103235748701,-1.582155679478459,1.3167354080045828,-1.3053760553720515,-1.5707963267928677,-0.41471399677685733,0.002933611172885812,0.00015630156907773006,0.003193479460536593,-0.0034292989428907216,0.0029336110734126853,0.00015630110365377905,0.003197849391727702,-0.0034379968898452717,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.3328378561503494e-16,2.1128829168472273e-17,-2.1956025213379465e-07],"qvel":[2.6012718339717272e-11,3.1176882484996866e-10,-9.047612467061647e-10,8.418838931660358e-10,-6.893494057507622e-12,9.646080218541518e-12,1.1403665122298798e-09,5.41564548042577e-09,-5.292049097734612e-09,-4.1588816359898956e-10,-1.0857572462588012e-09,-3.4808887284237506e-09,3.2038622557709153e-09,3.849951034722595e-10,-4.774342084516962e-17,2.7408958761747417e-16,5.875322301406717e-15,7.922936168373504e-15,1.179531250186548e-15,-7.094211161547829e-08],"joint_position_rad":[-1.9855103235748701,-1.582155679478459,1.3167354080045828,-1.3053760553720515,-1.5707963267928677,-0.41471399677685733],"joint_velocity_rad_s":[2.6012718339717272e-11,3.1176882484996866e-10,-9.047612467061647e-10,8.418838931660358e-10,-6.893494057507622e-12,9.646080218541518e-12],"linkage_position_rad":[0.002933611172885812,0.00015630156907773006,0.003193479460536593,-0.0034292989428907216,0.0029336110734126853,0.00015630110365377905,0.003197849391727702,-0.0034379968898452717],"tcp_position_m":[0.06812348610861962,0.48730461894862465,0.43499999996029465],"tcp_quaternion_wxyz":[-1.0188510761703378e-11,0.7071067811876491,0.7071067811854453,2.3415065460204767e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.3328378561503494e-16,2.1128829168472273e-17,-2.1956025213379465e-07],"object_linear_velocity_m_s":[-4.774342084516962e-17,2.7408958761747417e-16,5.875322301406717e-15],"object_angular_velocity_rad_s":[7.922936683331267e-15,1.1795277899735778e-15,-7.094211161547839e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221304084,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235698384,-1.592059601354328,1.3065911152751764,-1.3102027488916173,-1.5707950793626004,-0.4147139967749472,0.0],"actuator_force":[-3.4151526051573455e-10,-19.80784387644553,-20.288585096908264,-2.413346843971226,0.0006237158230533169,-9.521272659185342e-12,-0.29336111258797115],"issued_joint_targets_rad":[-1.985510323569827,-1.5821556794162999,1.3167354078254208,-1.3053760552049758,-1.5707963267947906,-0.41471399677493537],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.219999999997004,"joint_targets_rad":[-1.985510323569827,-1.5821556794162999,1.3167354078254208,-1.3053760552049758,-1.5707963267947906,-0.41471399677493537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.239999999996993,"qpos":[-1.9855103235744098,-1.5821556794725327,1.3167354079873839,-1.3053760553560922,-1.57079632679306,-0.41471399677667314,0.002933611172608729,0.00015630156764933516,0.0031934794618814753,-0.0034292989422542225,0.0029336110734946505,0.00015630110471043059,0.0031978493903359394,-0.003437996889974833,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.2102217255663597e-16,2.055545772735269e-17,-2.198293524615531e-07],"qvel":[2.3605892584883223e-11,2.824832284345864e-10,-8.188218087081152e-10,7.631190897809019e-10,-3.416354117963578e-12,8.781211904240122e-12,7.033085796365358e-10,3.6504201171716776e-09,-3.5838527152219346e-09,-2.0457635419822963e-10,-5.777202920823962e-10,-2.361040341899537e-09,2.2841696725577607e-09,1.614370015692446e-10,-2.3946036217715385e-17,1.4499614598337632e-16,5.901690098241564e-15,-4.8090407933149075e-15,-6.847462307344879e-16,-7.685996836708117e-09],"joint_position_rad":[-1.9855103235744098,-1.5821556794725327,1.3167354079873839,-1.3053760553560922,-1.57079632679306,-0.41471399677667314],"joint_velocity_rad_s":[2.3605892584883223e-11,2.824832284345864e-10,-8.188218087081152e-10,7.631190897809019e-10,-3.416354117963578e-12,8.781211904240122e-12],"linkage_position_rad":[0.002933611172608729,0.00015630156764933516,0.0031934794618814753,-0.0034292989422542225,0.0029336110734946505,0.00015630110471043059,0.0031978493903359394,-0.003437996889974833],"tcp_position_m":[0.06812348610850487,0.48730461894878324,0.43499999996411853],"tcp_quaternion_wxyz":[-9.250033174298784e-12,0.7071067811875515,0.7071067811855432,2.1265637985696002e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.2102217255663597e-16,2.055545772735269e-17,-2.198293524615531e-07],"object_linear_velocity_m_s":[-2.3946036217715385e-17,1.4499614598337632e-16,5.901690098241564e-15],"object_angular_velocity_rad_s":[-4.80904109468507e-15,-6.847441145374236e-16,-7.68599683670813e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221302676,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569827,-1.5920596013543222,1.3065911152750393,-1.3102027488914336,-1.570795079362612,-0.4147139967749353,0.0],"actuator_force":[-2.7694113668985665e-10,-19.807843876572406,-20.28858509716065,-2.4133468439827084,0.0006237155656663163,-9.208633855450898e-12,-0.29336111293311035],"issued_joint_targets_rad":[-1.9855103235698168,-1.582155679416209,1.3167354078252682,-1.305376055204823,-1.5707963267948009,-0.4147139967749243],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.239999999996993,"joint_targets_rad":[-1.9855103235698168,-1.582155679416209,1.3167354078252682,-1.305376055204823,-1.5707963267948009,-0.4147139967749243],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.259999999996982,"qpos":[-1.985510323573991,-1.5821556794671627,1.3167354079718212,-1.3053760553416447,-1.570796326793239,-0.4147139967765055,0.0029336111711611578,0.00015630155911590125,0.0031934794697770375,-0.003429298941400745,0.0029336110746374547,0.00015630111025682447,0.003197849385318286,-0.003437996890578355,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.3578636038443657e-16,2.046553904263505e-17,-2.2032066170374384e-07],"qvel":[2.0402505710394924e-11,2.559643468224104e-10,-7.414728051834151e-10,6.903735775218596e-10,-3.3298247016505593e-12,7.992348879840474e-12,-4.0197064163582985e-11,2.572144818052522e-10,-1.0351894539709101e-10,-8.225296538243623e-11,1.7971937377652363e-10,-1.8161052376402856e-10,2.2202615738677213e-10,-2.172702805238301e-11,-2.5553944297616445e-17,1.666113702576042e-16,6.145939163659098e-15,-4.69830227288678e-15,-7.005878337428024e-16,-1.403268926789625e-08],"joint_position_rad":[-1.985510323573991,-1.5821556794671627,1.3167354079718212,-1.3053760553416447,-1.570796326793239,-0.4147139967765055],"joint_velocity_rad_s":[2.0402505710394924e-11,2.559643468224104e-10,-7.414728051834151e-10,6.903735775218596e-10,-3.3298247016505593e-12,7.992348879840474e-12],"linkage_position_rad":[0.0029336111711611578,0.00015630155911590125,0.0031934794697770375,-0.003429298941400745,0.0029336110746374547,0.00015630111025682447,0.003197849385318286,-0.003437996890578355],"tcp_position_m":[0.06812348610840133,0.4873046189489265,0.4349999999675747],"tcp_quaternion_wxyz":[-8.396075636056374e-12,0.7071067811874626,0.7071067811856319,1.931510175130683e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.3578636038443657e-16,2.046553904263505e-17,-2.2032066170374384e-07],"object_linear_velocity_m_s":[-2.5553944297616445e-17,1.666113702576042e-16,6.145939163659098e-15],"object_angular_velocity_rad_s":[-4.6983025821686545e-15,-7.005857596657087e-16,-1.4032689267896278e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221278982,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235698168,-1.5920596013543171,1.3065911152749152,-1.3102027488912666,-1.5707950793626226,-0.41471399677492427,0.0],"actuator_force":[1.8735590856522322e-10,-19.807843876694278,-20.28858509722295,-2.4133468438483305,0.0006237156411543765,-8.640199666842818e-12,-0.29336111298754214],"issued_joint_targets_rad":[-1.9855103235698073,-1.5821556794161276,1.316735407825132,-1.305376055204686,-1.57079632679481,-0.4147139967749146],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.259999999996982,"joint_targets_rad":[-1.9855103235698073,-1.5821556794161276,1.316735407825132,-1.305376055204686,-1.57079632679481,-0.4147139967749146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.27999999999697,"qpos":[-1.9855103235736054,-1.5821556794622966,1.3167354079577407,-1.305376055328559,-1.5707963267933926,-0.414713996776353,0.002933611170911177,0.00015630155858166266,0.003193479470615621,-0.0034292989421033605,0.0029336110747805086,0.00015630111048477621,0.0031978493849046117,-0.0034379968902487163,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999767,1.2125729684444206e-16,3.831152162285797e-17,-2.2075717905477983e-07],"qvel":[1.3091465416350646e-11,2.3191739328831023e-10,-6.722808155319304e-10,6.130965009113168e-10,-3.185967512941392e-11,7.23984126436477e-12,-1.8861051751040576e-09,-1.0139666440561651e-08,9.6315528748073e-09,8.828030690637022e-10,1.2393283515750764e-09,6.608210007577731e-09,-6.590919257057597e-09,-4.069348953363489e-10,-5.045449038238031e-17,1.5772987052362117e-16,5.470090897418534e-15,-3.3059390865617004e-15,2.6818992506246707e-16,-2.5620146907795498e-08],"joint_position_rad":[-1.9855103235736054,-1.5821556794622966,1.3167354079577407,-1.305376055328559,-1.5707963267933926,-0.414713996776353],"joint_velocity_rad_s":[1.3091465416350646e-11,2.3191739328831023e-10,-6.722808155319304e-10,6.130965009113168e-10,-3.185967512941392e-11,7.23984126436477e-12],"linkage_position_rad":[0.002933611170911177,0.00015630155858166266,0.003193479470615621,-0.0034292989421033605,0.0029336110747805086,0.00015630111048477621,0.0031978493849046117,-0.0034379968902487163],"tcp_position_m":[0.06812348610830178,0.4873046189490561,0.4349999999706966],"tcp_quaternion_wxyz":[-7.623230375891718e-12,0.7071067811873801,0.7071067811857141,1.753877740356279e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999767,1.2125729684444206e-16,3.831152162285797e-17,-2.2075717905477983e-07],"object_linear_velocity_m_s":[-5.045449038238031e-17,1.5772987052362117e-16,5.470090897418534e-15],"object_angular_velocity_rad_s":[-3.305938970114775e-15,2.681913908952752e-16,-2.5620146907795548e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235698073,-1.5920596013543136,1.3065911152748049,-1.3102027488911168,-1.5707950793626324,-0.41471399677491455,0.0],"actuator_force":[2.3596840037498623e-09,-19.807843876801144,-20.28858509695965,-2.413346842588453,0.0006237185660893374,-4.774847184307873e-12,-0.2933611090507002],"issued_joint_targets_rad":[-1.9855103235697988,-1.582155679416053,1.3167354078250064,-1.305376055204561,-1.5707963267948182,-0.41471399677490595],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.27999999999697,"joint_targets_rad":[-1.9855103235697988,-1.582155679416053,1.3167354078250064,-1.305376055204561,-1.5707963267948182,-0.41471399677490595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.29999999999696,"qpos":[-1.9855103235732525,-1.5821556794578875,1.3167354079450002,-1.3053760553167038,-1.5707963267935117,-0.41471399677621434,0.0029336111733976288,0.0001563015715043884,0.003193479458137074,-0.003429298942540345,0.0029336110728284187,0.00015630110220797496,0.0031978493927195613,-0.003437996889763408,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,1.1357504080733841e-16,3.467214541331863e-17,-2.2117605077775308e-07],"qvel":[1.8174422187785186e-11,2.1019484992032446e-10,-6.064424887360916e-10,5.665066390417264e-10,-2.574558963759175e-12,6.610513774815978e-12,8.830082514327757e-10,4.227671591645161e-09,-4.22017594459889e-09,-2.018053939524942e-10,-7.949970261239717e-10,-2.7316401536332208e-09,2.6231510689584113e-09,2.0917692843456182e-10,-4.726180872868604e-17,1.7663560327325448e-16,6.148714721220661e-15,-9.2999990939676e-17,-7.112898793424583e-16,-4.677591836075472e-08],"joint_position_rad":[-1.9855103235732525,-1.5821556794578875,1.3167354079450002,-1.3053760553167038,-1.5707963267935117,-0.41471399677621434],"joint_velocity_rad_s":[1.8174422187785186e-11,2.1019484992032446e-10,-6.064424887360916e-10,5.665066390417264e-10,-2.574558963759175e-12,6.610513774815978e-12],"linkage_position_rad":[0.0029336111733976288,0.0001563015715043884,0.003193479458137074,-0.003429298942540345,0.0029336110728284187,0.00015630110220797496,0.0031978493927195613,-0.003437996889763408],"tcp_position_m":[0.06812348610820448,0.4873046189491738,0.4349999999735171],"tcp_quaternion_wxyz":[-6.9294935512868295e-12,0.7071067811873046,0.7071067811857901,1.5918124640607532e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,1.1357504080733841e-16,3.467214541331863e-17,-2.2117605077775308e-07],"object_linear_velocity_m_s":[-4.726180872868604e-17,1.7663560327325448e-16,6.148714721220661e-15],"object_angular_velocity_rad_s":[-9.300030882388037e-17,-7.112898275784928e-16,-4.677591836075472e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322131373,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697988,-1.5920596013543094,1.3065911152747025,-1.31020274889098,-1.570795079362641,-0.4147139967749059,0.0],"actuator_force":[-3.624336386565119e-10,-19.807843876921197,-20.288585098018302,-2.4133468437888723,0.0006237156928818877,-6.821210263296962e-12,-0.29336111275135845],"issued_joint_targets_rad":[-1.9855103235697913,-1.5821556794159854,1.3167354078248938,-1.3053760552044482,-1.5707963267948253,-0.4147139967748983],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.29999999999696,"joint_targets_rad":[-1.9855103235697913,-1.5821556794159854,1.3167354078248938,-1.3053760552044482,-1.5707963267948253,-0.4147139967748983],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.319999999996949,"qpos":[-1.9855103235729379,-1.582155679453892,1.31673540793347,-1.305376055305982,-1.570796326793647,-0.41471399677608833,0.0029336111714527036,0.00015630156119575465,0.0031934794679671077,-0.003429298941729626,0.0029336110745417287,0.00015630110888516525,0.0031978493866366624,-0.0034379968904618722,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,9.32372213595415e-17,2.7276276722478488e-17,-2.2154475939305864e-07],"qvel":[1.6462596985544777e-11,1.9045588358233542e-10,-5.488989575192805e-10,5.137802749753508e-10,4.076137364179337e-13,6.017146562775499e-12,3.98615411054698e-10,2.5239989566374648e-09,-2.3404501180758913e-09,-2.4735320778049136e-10,-2.3144663863962345e-10,-1.6424086761735655e-09,1.5912875180877347e-09,1.1691381916740737e-10,-5.314972663867435e-17,1.627601997473166e-16,6.329125962722249e-15,5.585232392880851e-16,5.822820442449414e-16,-8.540101453619435e-08],"joint_position_rad":[-1.9855103235729379,-1.582155679453892,1.31673540793347,-1.305376055305982,-1.570796326793647,-0.41471399677608833],"joint_velocity_rad_s":[1.6462596985544777e-11,1.9045588358233542e-10,-5.488989575192805e-10,5.137802749753508e-10,4.076137364179337e-13,6.017146562775499e-12],"linkage_position_rad":[0.0029336111714527036,0.00015630156119575465,0.0031934794679671077,-0.003429298941729626,0.0029336110745417287,0.00015630110888516525,0.0031978493866366624,-0.0034379968904618722],"tcp_position_m":[0.0681234861081263,0.4873046189492803,0.434999999976068],"tcp_quaternion_wxyz":[-6.2892832915928294e-12,0.7071067811872379,0.7071067811858568,1.4457482537221288e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,9.32372213595415e-17,2.7276276722478488e-17,-2.2154475939305864e-07],"object_linear_velocity_m_s":[-5.314972663867435e-17,1.627601997473166e-16,6.329125962722249e-15],"object_angular_velocity_rad_s":[5.585234926322613e-16,5.822818126941987e-16,-8.540101453619436e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283633,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697913,-1.5920596013543058,1.306591115274611,-1.3102027488908565,-1.5707950793626484,-0.41471399677489823,0.0],"actuator_force":[-2.9194779926910996e-10,-19.807843877010328,-20.288585098158364,-2.4133468438152477,0.0006237154583459414,-6.679101716144942e-12,-0.29336111313556545],"issued_joint_targets_rad":[-1.985510323569784,-1.5821556794159248,1.3167354078247917,-1.3053760552043465,-1.5707963267948322,-0.41471399677489074],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.319999999996949,"joint_targets_rad":[-1.985510323569784,-1.5821556794159248,1.3167354078247917,-1.3053760552043465,-1.5707963267948322,-0.41471399677489074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.339999999996937,"qpos":[-1.9855103235726494,-1.5821556794502716,1.3167354079230373,-1.305376055296276,-1.5707963267937723,-0.41471399677597354,0.002933611170027999,0.00015630155434914755,0.0031934794749318867,-0.0034292989419423,0.0029336110756444786,0.00015630111319472298,0.003197849382283703,-0.003437996890455245,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,6.824623062292713e-17,2.1451562008994513e-17,-2.2186870578370395e-07],"qvel":[1.2033563021708006e-11,1.72568661228567e-10,-4.978022709823381e-10,4.609211121209544e-10,-8.569259038152085e-12,5.468319301509294e-12,-7.732419680216516e-10,-3.789367349453469e-09,3.793570498165311e-09,2.49076055579641e-10,7.285640939150795e-10,2.4352887435087595e-09,-2.330011948048799e-09,-2.0881948330077657e-10,-2.783251263039962e-17,8.708531550714066e-17,6.494271637635241e-15,-3.540023839581497e-15,-1.1376599555599353e-15,-9.252500561789275e-09],"joint_position_rad":[-1.9855103235726494,-1.5821556794502716,1.3167354079230373,-1.305376055296276,-1.5707963267937723,-0.41471399677597354],"joint_velocity_rad_s":[1.2033563021708006e-11,1.72568661228567e-10,-4.978022709823381e-10,4.609211121209544e-10,-8.569259038152085e-12,5.468319301509294e-12],"linkage_position_rad":[0.002933611170027999,0.00015630155434914755,0.0031934794749318867,-0.0034292989419423,0.0029336110756444786,0.00015630111319472298,0.003197849382283703,-0.003437996890455245],"tcp_position_m":[0.06812348610805447,0.4873046189493765,0.43499999997837274],"tcp_quaternion_wxyz":[-5.706602804748183e-12,0.7071067811871764,0.7071067811859181,1.3131402093407693e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,6.824623062292713e-17,2.1451562008994513e-17,-2.2186870578370395e-07],"object_linear_velocity_m_s":[-2.783251263039962e-17,8.708531550714066e-17,6.494271637635241e-15],"object_angular_velocity_rad_s":[-3.5400243448003944e-15,-1.1376583834559116e-15,-9.252500561789278e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221263651,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569784,-1.5920596013543031,1.306591115274528,-1.3102027488907453,-1.5707950793626557,-0.4147139967748907,0.0],"actuator_force":[9.176801540888846e-10,-19.807843877090363,-20.288585097897794,-2.4133468433266216,0.0006237164152480545,-5.4001247917767614e-12,-0.2933611120602345],"issued_joint_targets_rad":[-1.9855103235697782,-1.5821556794158707,1.3167354078247007,-1.3053760552042541,-1.5707963267948382,-0.41471399677488413],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.339999999996937,"joint_targets_rad":[-1.9855103235697782,-1.5821556794158707,1.3167354078247007,-1.3053760552042541,-1.5707963267948382,-0.41471399677488413],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.359999999996926,"qpos":[-1.9855103235723792,-1.582155679446991,1.3167354079136007,-1.305376055287473,-1.5707963267938518,-0.41471399677586906,0.0029336111743006234,0.00015630157558409996,0.003193479454080251,-0.003429298942785887,0.002933611072004856,0.0001563010995724989,0.003197849395219767,-0.003437996889526753,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,4.4223581635208394e-17,6.376795367546123e-18,-2.2233580872016867e-07],"qvel":[1.3872547602224394e-11,1.563940898648156e-10,-4.49186777935489e-10,4.203670426363504e-10,-2.3358854758230195e-12,4.975079860341678e-12,9.950963726678694e-10,4.415589940517531e-09,-4.47461748078741e-09,-1.5985945553150062e-10,-9.420238955583933e-10,-2.853831215991914e-09,2.738879458426459e-09,2.2530021855167435e-10,-9.459422381755773e-18,6.051826488747953e-17,6.345779308091627e-15,-2.5217624252172256e-15,-8.695639508179766e-16,-1.6892729478432783e-08],"joint_position_rad":[-1.9855103235723792,-1.582155679446991,1.3167354079136007,-1.305376055287473,-1.5707963267938518,-0.41471399677586906],"joint_velocity_rad_s":[1.3872547602224394e-11,1.563940898648156e-10,-4.49186777935489e-10,4.203670426363504e-10,-2.3358854758230195e-12,4.975079860341678e-12],"linkage_position_rad":[0.0029336111743006234,0.00015630157558409996,0.003193479454080251,-0.003429298942785887,0.002933611072004856,0.0001563010995724989,0.003197849395219767,-0.003437996889526753],"tcp_position_m":[0.06812348610797528,0.48730461894946353,0.4349999999804528],"tcp_quaternion_wxyz":[-5.1901478712235805e-12,0.7071067811871179,0.7071067811859764,1.1912284091291222e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,4.4223581635208394e-17,6.376795367546123e-18,-2.2233580872016867e-07],"object_linear_velocity_m_s":[-9.459422381755773e-18,6.051826488747953e-17,6.345779308091627e-15],"object_angular_velocity_rad_s":[-2.521762812102829e-15,-8.695628279676007e-16,-1.6892729478432793e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221326089,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697782,-1.5920596013543014,1.306591115274454,-1.3102027488906443,-1.5707950793626624,-0.4147139967748841,0.0],"actuator_force":[-3.4651748137548566e-10,-19.80784387717813,-20.28858509861857,-2.413346843622435,0.0006237158283965982,-5.030642569181509e-12,-0.29336111258063635],"issued_joint_targets_rad":[-1.9855103235697724,-1.58215567941582,1.3167354078246154,-1.3053760552041693,-1.5707963267948437,-0.41471399677487847],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.359999999996926,"joint_targets_rad":[-1.9855103235697724,-1.58215567941582,1.3167354078246154,-1.3053760552041693,-1.5707963267948437,-0.41471399677487847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.379999999996915,"qpos":[-1.9855103235721423,-1.5821556794440188,1.316735407905058,-1.3053760552795166,-1.5707963267939529,-0.4147139967757742,0.0029336111720361887,0.00015630156458817937,0.003193479464807221,-0.00342929894211494,0.0029336110741195196,0.00015630110668987413,0.0031978493886914306,-0.0034379968902429918,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,2.923006487260477e-17,-5.14738584298552e-17,-2.227997867470978e-07],"qvel":[1.310815988278889e-11,1.4171064649949244e-10,-4.063479109468398e-10,3.819362643027159e-10,1.2743019453627015e-12,4.52892157908357e-12,6.94532264513248e-10,3.815163043952252e-09,-3.6652386660922355e-09,-3.087446520386164e-10,-5.55196164429241e-10,-2.4707113491865527e-09,2.3494261584104547e-09,2.105562320130387e-10,7.60209739651351e-17,4.0900237939567407e-17,6.205613651232702e-15,-1.4934830635030593e-15,-2.9322431462108667e-15,-3.0841858082124814e-08],"joint_position_rad":[-1.9855103235721423,-1.5821556794440188,1.316735407905058,-1.3053760552795166,-1.5707963267939529,-0.4147139967757742],"joint_velocity_rad_s":[1.310815988278889e-11,1.4171064649949244e-10,-4.063479109468398e-10,3.819362643027159e-10,1.2743019453627015e-12,4.52892157908357e-12],"linkage_position_rad":[0.0029336111720361887,0.00015630156458817937,0.003193479464807221,-0.00342929894211494,0.0029336110741195196,0.00015630110668987413,0.0031978493886914306,-0.0034379968902429918],"tcp_position_m":[0.0681234861079157,0.4873046189495424,0.43499999998233563],"tcp_quaternion_wxyz":[-4.711088139708968e-12,0.7071067811870675,0.7071067811860265,1.0818749055777937e-11],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,2.923006487260477e-17,-5.14738584298552e-17,-2.227997867470978e-07],"object_linear_velocity_m_s":[7.60209739651351e-17,4.0900237939567407e-17,6.205613651232702e-15],"object_angular_velocity_rad_s":[-1.4934843669341082e-15,-2.9322424789121435e-15,-3.084185808212484e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221292964,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697724,-1.5920596013542985,1.3065911152743843,-1.3102027488905512,-1.570795079362668,-0.4147139967748784,0.0],"actuator_force":[-5.034053174313158e-10,-19.807843877243158,-20.2885850988082,-2.413346843710997,0.0006237155150756735,-5.002220859751105e-12,-0.29336111300446593],"issued_joint_targets_rad":[-1.9855103235697673,-1.5821556794157738,1.3167354078245395,-1.305376055204094,-1.5707963267948486,-0.4147139967748732],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.379999999996915,"joint_targets_rad":[-1.9855103235697673,-1.5821556794157738,1.3167354078245395,-1.305376055204094,-1.5707963267948486,-0.4147139967748732],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.399999999996904,"qpos":[-1.985510323571927,-1.5821556794413252,1.3167354078973283,-1.3053760552723155,-1.5707963267940515,-0.414713996775688,0.0029336111698474343,0.00015630155412017097,0.0031934794754441974,-0.0034292989421236828,0.002933611075996068,0.00015630111331432263,0.00319784938218086,-0.0034379968904665967,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,1.2333984311502708e-17,-8.1790638944772e-17,-2.2318195254924346e-07],"qvel":[1.0729283078725883e-11,1.283965302885231e-10,-3.6830805394933696e-10,3.4519408241653325e-10,9.18358369338111e-13,4.121984814390154e-12,-5.4649931414943114e-11,2.6041559077039246e-10,-7.167045113735066e-11,-1.0460594770283676e-10,2.0863990470984513e-10,-1.8662613374239606e-10,2.1909074496963234e-10,-1.8104530409117797e-11,1.4446503974889588e-16,1.5060486000317114e-17,5.989120161430798e-15,-1.717387326109103e-15,-4.708673589640762e-15,-5.630944431877232e-08],"joint_position_rad":[-1.985510323571927,-1.5821556794413252,1.3167354078973283,-1.3053760552723155,-1.5707963267940515,-0.414713996775688],"joint_velocity_rad_s":[1.0729283078725883e-11,1.283965302885231e-10,-3.6830805394933696e-10,3.4519408241653325e-10,9.18358369338111e-13,4.121984814390154e-12],"linkage_position_rad":[0.0029336111698474343,0.00015630155412017097,0.0031934794754441974,-0.0034292989421236828,0.002933611075996068,0.00015630111331432263,0.00319784938218086,-0.0034379968904665967],"tcp_position_m":[0.06812348610786322,0.4873046189496138,0.4349999999840368],"tcp_quaternion_wxyz":[-4.272814789688121e-12,0.707106781187022,0.7071067811860727,9.827351739162984e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,1.2333984311502708e-17,-8.1790638944772e-17,-2.2318195254924346e-07],"object_linear_velocity_m_s":[1.4446503974889588e-16,1.5060486000317114e-17,5.989120161430798e-15],"object_angular_velocity_rad_s":[-1.7173894186796936e-15,-4.708672821671546e-15,-5.6309444318772374e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221261084,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697673,-1.5920596013542954,1.3065911152743226,-1.3102027488904686,-1.570795079362673,-0.4147139967748732,0.0],"actuator_force":[2.7284841053187847e-11,-19.807843877299092,-20.288585098688145,-2.4133468435960594,0.000623715597384944,-4.803268893738277e-12,-0.293361113062125],"issued_joint_targets_rad":[-1.9855103235697624,-1.5821556794157337,1.3167354078244708,-1.305376055204025,-1.5707963267948533,-0.4147139967748679],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.399999999996904,"joint_targets_rad":[-1.9855103235697624,-1.5821556794157337,1.3167354078244708,-1.305376055204025,-1.5707963267948533,-0.4147139967748679],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.419999999996893,"qpos":[-1.9855103235717275,-1.582155679438884,1.3167354078903357,-1.305376055265793,-1.5707963267941354,-0.4147139967756095,0.0029336111721588736,0.00015630156349293205,0.003193479465527881,-0.003429298941712452,0.002933611073494461,0.00015630110747209914,0.0031978493875288337,-0.0034379968901078616,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,2.5313042705697827e-18,-8.421830229382462e-17,-2.2349793690512865e-07],"qvel":[3.654234177517878e-12,1.1629121099359022e-10,-3.348604152729003e-10,2.9979196505414334e-10,-2.9562354763428485e-11,3.72082804053673e-12,-2.050033087036699e-09,-1.1772580386527482e-08,1.1043050727075264e-08,1.1617689587081748e-09,1.3771224530402809e-09,7.70064278113797e-09,-7.472112195542777e-09,-5.971463826883518e-10,2.248232396145578e-16,-5.396503039975151e-18,5.6824210508780996e-15,-1.4057776418961684e-15,-7.051210604616568e-15,-1.0280682542052904e-07],"joint_position_rad":[-1.9855103235717275,-1.582155679438884,1.3167354078903357,-1.305376055265793,-1.5707963267941354,-0.4147139967756095],"joint_velocity_rad_s":[3.654234177517878e-12,1.1629121099359022e-10,-3.348604152729003e-10,2.9979196505414334e-10,-2.9562354763428485e-11,3.72082804053673e-12],"linkage_position_rad":[0.0029336111721588736,0.00015630156349293205,0.003193479465527881,-0.003429298941712452,0.002933611073494461,0.00015630110747209914,0.0031978493875288337,-0.0034379968901078616],"tcp_position_m":[0.06812348610781216,0.48730461894967847,0.4349999999855736],"tcp_quaternion_wxyz":[-3.8766487815589644e-12,0.7071067811869791,0.7071067811861151,8.924078456198622e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,2.5313042705697827e-18,-8.421830229382462e-17,-2.2349793690512865e-07],"object_linear_velocity_m_s":[2.248232396145578e-16,-5.396503039975151e-18,5.6824210508780996e-15],"object_angular_velocity_rad_s":[-1.4057807764416425e-15,-7.051209975718599e-15,-1.0280682542052916e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221294584,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697624,-1.5920596013542945,1.3065911152742666,-1.3102027488903933,-1.5707950793626784,-0.4147139967748679,0.0],"actuator_force":[2.4683686206117272e-09,-19.807843877337746,-20.288585098193835,-2.413346842279452,0.000623718684778396,-1.2789769243681803e-12,-0.2933611089181135],"issued_joint_targets_rad":[-1.985510323569758,-1.582155679415697,1.3167354078244098,-1.3053760552039635,-1.570796326794857,-0.41471399677486354],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.419999999996893,"joint_targets_rad":[-1.985510323569758,-1.582155679415697,1.3167354078244098,-1.3053760552039635,-1.570796326794857,-0.41471399677486354],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.439999999996882,"qpos":[-1.9855103235715423,-1.5821556794366725,1.3167354078840086,-1.3053760552598768,-1.5707963267941834,-0.414713996775538,0.0029336111728190976,0.00015630156864525704,0.00319347946090839,-0.0034292989425025793,0.002933611073452502,0.0001563011040620389,0.00319784939114077,-0.0034379968899691344,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,-2.209959597177926e-18,-8.350305450160642e-17,-2.2388790768251994e-07],"qvel":[1.0286466098040719e-11,1.0543744551842676e-10,-3.008485849506824e-10,2.8364485376762763e-10,9.754319552570296e-13,3.4086851610182482e-12,8.915068442114472e-10,4.458064227875031e-09,-4.3698410830347575e-09,-3.028210589414793e-10,-7.93355648483029e-10,-2.8820379019306e-09,2.722674408857561e-09,2.627003855657949e-10,1.0213224659224844e-16,-1.9367903307292503e-18,5.699074396247477e-15,-1.272793061664287e-16,3.166415074106026e-15,-1.1138277632007222e-08],"joint_position_rad":[-1.9855103235715423,-1.5821556794366725,1.3167354078840086,-1.3053760552598768,-1.5707963267941834,-0.414713996775538],"joint_velocity_rad_s":[1.0286466098040719e-11,1.0543744551842676e-10,-3.008485849506824e-10,2.8364485376762763e-10,9.754319552570296e-13,3.4086851610182482e-12],"linkage_position_rad":[0.0029336111728190976,0.00015630156864525704,0.00319347946090839,-0.0034292989425025793,0.002933611073452502,0.0001563011040620389,0.00319784939114077,-0.0034379968899691344],"tcp_position_m":[0.06812348610775565,0.4873046189497376,0.4349999999869609],"tcp_quaternion_wxyz":[-3.5282672197233033e-12,0.7071067811869389,0.7071067811861556,8.093740927573359e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,-2.209959597177926e-18,-8.350305450160642e-17,-2.2388790768251994e-07],"object_linear_velocity_m_s":[1.0213224659224844e-16,-1.9367903307292503e-18,5.699074396247477e-15],"object_angular_velocity_rad_s":[-1.272778864621641e-16,3.1664151310490773e-15,-1.1138277632007237e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221304859,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569758,-1.5920596013542931,1.3065911152742171,-1.3102027488903258,-1.5707950793626821,-0.41471399677486354,0.0],"actuator_force":[-5.456968210637569e-10,-19.807843877416417,-20.28858509924339,-2.4133468435891245,0.0006237156530914945,-3.609557097661309e-12,-0.29336111280433597],"issued_joint_targets_rad":[-1.9855103235697542,-1.5821556794156637,1.3167354078243543,-1.305376055203908,-1.5707963267948606,-0.4147139967748595],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.439999999996882,"joint_targets_rad":[-1.9855103235697542,-1.5821556794156637,1.3167354078243543,-1.305376055203908,-1.5707963267948606,-0.4147139967748595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.459999999996871,"qpos":[-1.9855103235713805,-1.5821556794346687,1.3167354078782818,-1.3053760552545337,-1.5707963267942588,-0.414713996775473,0.00293361117014748,0.0001563015563883659,0.003193479473462956,-0.0034292989424848748,0.0029336110758937935,0.00015630111184881495,0.003197849383553503,-0.003437996890322829,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,1.407300272605049e-17,-6.847455742768291e-17,-2.2433035767725453e-07],"qvel":[9.257335399077177e-12,9.552038033030746e-11,-2.7240256321713364e-10,2.57753896531866e-10,3.8757834928766415e-12,3.105916844095651e-12,4.24441512451323e-10,2.736279755509309e-09,-2.516499195223995e-09,-2.8198928682063393e-10,-2.4044239759402575e-10,-1.7743116713836048e-09,1.70742540968785e-09,1.3213289674762086e-10,8.938621266486322e-17,1.7394939083899623e-17,5.604705439154338e-15,3.022171320814365e-16,2.7520372966870068e-15,-2.0335682190629108e-08],"joint_position_rad":[-1.9855103235713805,-1.5821556794346687,1.3167354078782818,-1.3053760552545337,-1.5707963267942588,-0.414713996775473],"joint_velocity_rad_s":[9.257335399077177e-12,9.552038033030746e-11,-2.7240256321713364e-10,2.57753896531866e-10,3.8757834928766415e-12,3.105916844095651e-12],"linkage_position_rad":[0.00293361117014748,0.0001563015563883659,0.003193479473462956,-0.0034292989424848748,0.0029336110758937935,0.00015630111184881495,0.003197849383553503,-0.003437996890322829],"tcp_position_m":[0.06812348610771639,0.48730461894979055,0.4349999999882169],"tcp_quaternion_wxyz":[-3.199528616270365e-12,0.707106781186905,0.7071067811861897,7.352486567842467e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,1.407300272605049e-17,-6.847455742768291e-17,-2.2433035767725453e-07],"object_linear_velocity_m_s":[8.938621266486322e-17,1.7394939083899623e-17,5.604705439154338e-15],"object_angular_velocity_rad_s":[3.0221836959738256e-16,2.752037161666147e-15,-2.033568219062914e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221266671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697542,-1.592059601354292,1.3065911152741723,-1.3102027488902648,-1.5707950793626857,-0.4147139967748595,0.0],"actuator_force":[-4.5065462472848594e-10,-19.80784387745507,-20.288585099257944,-2.4133468436409657,0.0006237153990014122,-3.836930773104541e-12,-0.29336111322205927],"issued_joint_targets_rad":[-1.9855103235697509,-1.5821556794156337,1.3167354078243034,-1.3053760552038565,-1.5707963267948644,-0.4147139967748559],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.459999999996871,"joint_targets_rad":[-1.9855103235697509,-1.5821556794156337,1.3167354078243034,-1.3053760552038565,-1.5707963267948644,-0.4147139967748559],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.47999999999686,"qpos":[-1.9855103235712335,-1.5821556794328526,1.3167354078731,-1.3053760552496985,-1.570796326794334,-0.4147139967754139,0.002933611171132573,0.00015630155810108875,0.003193479470847907,-0.003429298941320694,0.00293361107448703,0.00015630111097247412,0.003197849384283446,-0.0034379968904640237,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,2.0866610626858187e-17,-5.768139401626707e-17,-2.2476335691425058e-07],"qvel":[5.05652400261235e-12,8.651676013040643e-11,-2.477951759651437e-10,2.287738275450149e-10,-5.921092197293649e-12,2.8187195214550566e-12,-9.156291292531176e-10,-4.994062369360272e-09,4.844679587530794e-09,4.604193247131055e-10,8.71891610247644e-10,3.228284198018199e-09,-2.9436863331472334e-09,-3.709875478539096e-10,8.523674309558966e-17,2.842363573166402e-17,5.492295357911041e-15,2.534797109954382e-16,1.2846370798627286e-15,-3.712782028075352e-08],"joint_position_rad":[-1.9855103235712335,-1.5821556794328526,1.3167354078731,-1.3053760552496985,-1.570796326794334,-0.4147139967754139],"joint_velocity_rad_s":[5.05652400261235e-12,8.651676013040643e-11,-2.477951759651437e-10,2.287738275450149e-10,-5.921092197293649e-12,2.8187195214550566e-12],"linkage_position_rad":[0.002933611171132573,0.00015630155810108875,0.003193479470847907,-0.003429298941320694,0.00293361107448703,0.00015630111097247412,0.003197849384283446,-0.0034379968904640237],"tcp_position_m":[0.06812348610768232,0.48730461894983845,0.4349999999893519],"tcp_quaternion_wxyz":[-2.8984943042336143e-12,0.7071067811868738,0.7071067811862207,6.681142569884902e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,2.0866610626858187e-17,-5.768139401626707e-17,-2.2476335691425058e-07],"object_linear_velocity_m_s":[8.523674309558966e-17,2.842363573166402e-17,5.492295357911041e-15],"object_angular_velocity_rad_s":[2.534802927572672e-16,1.284636967466162e-15,-3.7127820280753586e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221278015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697509,-1.5920596013542914,1.3065911152741307,-1.3102027488902084,-1.57079507936269,-0.4147139967748559,0.0],"actuator_force":[9.426912583876401e-10,-19.807843877484174,-20.288585098820477,-2.413346843132331,0.0006237164141111862,-2.8705926524708048e-12,-0.2933611120622926],"issued_joint_targets_rad":[-1.9855103235697478,-1.5821556794156055,1.316735407824257,-1.305376055203811,-1.5707963267948672,-0.4147139967748524],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.47999999999686,"joint_targets_rad":[-1.9855103235697478,-1.5821556794156055,1.316735407824257,-1.305376055203811,-1.5707963267948672,-0.4147139967748524],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.499999999996849,"qpos":[-1.9855103235710894,-1.5821556794312073,1.3167354078684144,-1.3053760552453022,-1.5707963267943583,-0.41471399677536014,0.002933611173729135,0.000156301572962733,0.003193479456690833,-0.0034292989428318745,0.002933611072616423,0.00015630110128246884,0.0031978493937315933,-0.0034379968896691977,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,3.5522283445684276e-17,-4.881112621328172e-17,-2.2516131125386007e-07],"qvel":[7.93978409504391e-12,7.844679758536213e-11,-2.2278469899246191e-10,2.1046328070013309e-10,3.2927543611232534e-13,2.564701985466769e-12,1.0163868236300965e-09,4.6772274129354405e-09,-4.662094296794755e-09,-2.544497185764307e-10,-9.561742082939476e-10,-3.0244019028522546e-09,2.8560704687848455e-09,2.796239109579723e-10,8.7266561522216e-17,7.994376748830171e-17,5.393763064475558e-15,3.790063159412054e-15,-9.778643716463177e-16,-6.77860238903091e-08],"joint_position_rad":[-1.9855103235710894,-1.5821556794312073,1.3167354078684144,-1.3053760552453022,-1.5707963267943583,-0.41471399677536014],"joint_velocity_rad_s":[7.93978409504391e-12,7.844679758536213e-11,-2.2278469899246191e-10,2.1046328070013309e-10,3.2927543611232534e-13,2.564701985466769e-12],"linkage_position_rad":[0.002933611173729135,0.000156301572962733,0.003193479456690833,-0.0034292989428318745,0.002933611072616423,0.00015630110128246884,0.0031978493937315933,-0.0034379968896691977],"tcp_position_m":[0.06812348610763382,0.48730461894988203,0.4349999999903742],"tcp_quaternion_wxyz":[-2.6414431025765633e-12,0.7071067811868418,0.7071067811862529,6.053507368297139e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,3.5522283445684276e-17,-4.881112621328172e-17,-2.2516131125386007e-07],"object_linear_velocity_m_s":[8.7266561522216e-17,7.994376748830171e-17,5.393763064475558e-15],"object_angular_velocity_rad_s":[3.790062725674654e-15,-9.778660735815744e-16,-6.778602389030922e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221317864,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697478,-1.5920596013542896,1.3065911152740928,-1.3102027488901584,-1.570795079362693,-0.4147139967748524,0.0],"actuator_force":[-4.924913810100406e-10,-19.80784387754329,-20.288585099529428,-2.413346843474301,0.0006237157996338283,-2.5863755581667647e-12,-0.29336111261834097],"issued_joint_targets_rad":[-1.985510323569745,-1.5821556794155809,1.3167354078242153,-1.3053760552037688,-1.5707963267948704,-0.4147139967748499],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.499999999996849,"joint_targets_rad":[-1.985510323569745,-1.5821556794155809,1.3167354078242153,-1.3053760552037688,-1.5707963267948704,-0.4147139967748499],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.519999999996838,"qpos":[-1.9855103235709683,-1.5821556794297167,1.3167354078641709,-1.3053760552413372,-1.5707963267944136,-0.41471399677531123,0.002933611170767167,0.0001563015600751652,0.0031934794700481405,-0.0034292989429058076,0.002933611075437989,0.00015630110948000714,0.003197849385770674,-0.0034379968900683086,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999756,3.8291253819106944e-17,-3.6795451196790895e-17,-2.254184397890973e-07],"qvel":[7.733636416799154e-12,7.106899706284023e-11,-2.0147691466217731e-10,1.920001120198975e-10,3.9744593680903334e-12,2.3350615649710054e-12,7.480443573154104e-10,4.147245000623405e-09,-3.965683599459041e-09,-3.4708174513354926e-10,-5.943979091895768e-10,-2.675757214718057e-09,2.533104225193174e-09,2.3335696420668906e-10,4.6554621103604506e-17,4.313265272113907e-17,5.3687830464214925e-15,-1.3521305912640905e-15,2.134169044780899e-15,-7.344060577415445e-09],"joint_position_rad":[-1.9855103235709683,-1.5821556794297167,1.3167354078641709,-1.3053760552413372,-1.5707963267944136,-0.41471399677531123],"joint_velocity_rad_s":[7.733636416799154e-12,7.106899706284023e-11,-2.0147691466217731e-10,1.920001120198975e-10,3.9744593680903334e-12,2.3350615649710054e-12],"linkage_position_rad":[0.002933611170767167,0.0001563015600751652,0.0031934794700481405,-0.0034292989429058076,0.002933611075437989,0.00015630110948000714,0.003197849385770674,-0.0034379968900683086],"tcp_position_m":[0.06812348610760399,0.4873046189499216,0.4349999999913018],"tcp_quaternion_wxyz":[-2.39616647572722e-12,0.7071067811868164,0.7071067811862783,5.498554071655545e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999756,3.8291253819106944e-17,-3.6795451196790895e-17,-2.254184397890973e-07],"object_linear_velocity_m_s":[4.6554621103604506e-17,4.313265272113907e-17,5.3687830464214925e-15],"object_angular_velocity_rad_s":[-1.352129628561387e-15,2.134169654933449e-15,-7.34406057741546e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276748,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569745,-1.5920596013542887,1.3065911152740588,-1.310202748890112,-1.570795079362696,-0.4147139967748499,0.0],"actuator_force":[-6.475602276623249e-10,-19.807843877571486,-20.28858509963311,-2.4133468435874192,0.0006237154613017992,-2.8421709430404007e-12,-0.29336111307849],"issued_joint_targets_rad":[-1.9855103235697424,-1.5821556794155585,1.3167354078241773,-1.305376055203731,-1.5707963267948728,-0.4147139967748474],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.519999999996838,"joint_targets_rad":[-1.9855103235697424,-1.5821556794155585,1.3167354078241773,-1.305376055203731,-1.5707963267948728,-0.4147139967748474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.539999999996827,"qpos":[-1.98551032357086,-1.5821556794283664,1.3167354078603306,-1.3053760552377518,-1.5707963267944747,-0.4147139967752668,0.0029336111708309917,0.0001563015570144037,0.003193479472086245,-0.0034292989413408585,0.0029336110749592923,0.00015630111164346075,0.0031978493837723936,-0.0034379968905995212,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,6.211026243500249e-17,-6.825440184841097e-17,-2.2588789156139805e-07],"qvel":[5.594153212791864e-12,6.435849394866455e-11,-1.8305012238538222e-10,1.7313078141272586e-10,3.3939475736790526e-12,2.1264961313570277e-12,-1.831004631616622e-10,-6.327967522369442e-10,7.12417273877707e-10,5.107343644129027e-11,3.4721911059413016e-10,3.899526882012665e-10,-2.1681789003422327e-10,-1.5229929606663251e-10,8.367181042508786e-17,7.170063619375966e-17,5.973854594842202e-15,-1.3122100779758536e-15,1.5339033447788745e-15,-1.3408400008083242e-08],"joint_position_rad":[-1.98551032357086,-1.5821556794283664,1.3167354078603306,-1.3053760552377518,-1.5707963267944747,-0.4147139967752668],"joint_velocity_rad_s":[5.594153212791864e-12,6.435849394866455e-11,-1.8305012238538222e-10,1.7313078141272586e-10,3.3939475736790526e-12,2.1264961313570277e-12],"linkage_position_rad":[0.0029336111708309917,0.0001563015570144037,0.003193479472086245,-0.0034292989413408585,0.0029336110749592923,0.00015630111164346075,0.0031978493837723936,-0.0034379968905995212],"tcp_position_m":[0.06812348610758073,0.487304618949957,0.43499999999214045],"tcp_quaternion_wxyz":[-2.1692947388252324e-12,0.7071067811867937,0.707106781186301,4.999298998434484e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,6.211026243500249e-17,-6.825440184841097e-17,-2.2588789156139805e-07],"object_linear_velocity_m_s":[8.367181042508786e-17,7.170063619375966e-17,5.973854594842202e-15],"object_angular_velocity_rad_s":[-1.3122093831649697e-15,1.5339039392690516e-15,-1.3408400008083242e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221272803,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697424,-1.592059601354288,1.306591115274028,-1.3102027488900707,-1.5707950793626988,-0.4147139967748474,0.0],"actuator_force":[-2.7284841053187847e-12,-19.807843877586492,-20.288585099384818,-2.413346843472482,0.0006237155486132906,-2.9274360713316128e-12,-0.2933611131101075],"issued_joint_targets_rad":[-1.98551032356974,-1.582155679415538,1.3167354078241433,-1.3053760552036968,-1.570796326794875,-0.41471399677484416],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.539999999996827,"joint_targets_rad":[-1.98551032356974,-1.582155679415538,1.3167354078241433,-1.3053760552036968,-1.570796326794875,-0.41471399677484416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.559999999996815,"qpos":[-1.9855103235707554,-1.5821556794271425,1.316735407856858,-1.305376055234499,-1.5707963267945193,-0.41471399677522636,0.00293361117135973,0.00015630155971757504,0.003193479469257199,-0.003429298941734343,0.0029336110742628633,0.0001563011098906543,0.003197849385343822,-0.0034379968902535493,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.1255560368244888e-16,-9.250048756228892e-17,-2.263595475567589e-07],"qvel":[-1.3720307433236841e-12,5.827822066185653e-11,-1.6730577681309435e-10,1.4301385071803906e-10,-2.981526779009973e-11,1.903414863714147e-12,-2.2712816700255576e-09,-1.2912609354603912e-08,1.2155387230275813e-08,1.1776217337443323e-09,1.5368449350490483e-09,8.401935906789785e-09,-8.15756028549051e-09,-6.028752759327537e-10,1.1877194242040103e-16,1.4280591158093698e-16,6.286104820518028e-15,-2.4195111003635774e-17,1.0481394294541503e-15,-2.4480352372047904e-08],"joint_position_rad":[-1.9855103235707554,-1.5821556794271425,1.316735407856858,-1.305376055234499,-1.5707963267945193,-0.41471399677522636],"joint_velocity_rad_s":[-1.3720307433236841e-12,5.827822066185653e-11,-1.6730577681309435e-10,1.4301385071803906e-10,-2.981526779009973e-11,1.903414863714147e-12],"linkage_position_rad":[0.00293361117135973,0.00015630155971757504,0.003193479469257199,-0.003429298941734343,0.0029336110742628633,0.0001563011098906543,0.003197849385343822,-0.0034379968902535493],"tcp_position_m":[0.06812348610755298,0.4873046189499887,0.4349999999928964],"tcp_quaternion_wxyz":[-1.9666578518967667e-12,0.707106781186771,0.7071067811863233,4.5393692952964005e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.1255560368244888e-16,-9.250048756228892e-17,-2.263595475567589e-07],"object_linear_velocity_m_s":[1.1877194242040103e-16,1.4280591158093698e-16,6.286104820518028e-15],"object_angular_velocity_rad_s":[-2.4194631962008935e-17,1.0481394459184323e-15,-2.448035237204791e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221282929,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551032356974,-1.5920596013542874,1.3065911152740002,-1.3102027488900332,-1.5707950793627015,-0.41471399677484416,0.0],"actuator_force":[2.579781721578911e-09,-19.807843877601044,-20.28858509879319,-2.4133468420684494,0.0006237188904378854,7.389644451905042e-13,-0.293361108608946],"issued_joint_targets_rad":[-1.9855103235697378,-1.5821556794155196,1.3167354078241125,-1.3053760552036657,-1.570796326794877,-0.41471399677484244],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.559999999996815,"joint_targets_rad":[-1.9855103235697378,-1.5821556794155196,1.3167354078241125,-1.3053760552036657,-1.570796326794877,-0.41471399677484244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.579999999996804,"qpos":[-1.9855103235706568,-1.5821556794260336,1.3167354078537161,-1.3053760552315432,-1.5707963267945304,-0.41471399677518944,0.002933611171607626,0.0001563015644866966,0.0031934794658330613,-0.0034292989433270062,0.0029336110747156872,0.00015630110662511368,0.003197849388416855,-0.0034379968897648183,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.332019328218033e-16,-9.563726649715289e-17,-2.2675978442557864e-07],"qvel":[6.267071212925625e-12,5.2880362339262885e-11,-1.4905069745711937e-10,1.427155191710714e-10,3.019357143122937e-12,1.7552678416588373e-12,9.634512703999709e-10,4.850732909118948e-09,-4.739273033096854e-09,-3.3932466005881895e-10,-8.550193703372849e-10,-3.1229426647239716e-09,2.9390236356016e-09,2.893988407217388e-10,1.4840289439879806e-16,2.0805257380799166e-16,6.383249335172729e-15,2.4753852558083527e-15,-7.614337104583822e-16,-4.469494137244641e-08],"joint_position_rad":[-1.9855103235706568,-1.5821556794260336,1.3167354078537161,-1.3053760552315432,-1.5707963267945304,-0.41471399677518944],"joint_velocity_rad_s":[6.267071212925625e-12,5.2880362339262885e-11,-1.4905069745711937e-10,1.427155191710714e-10,3.019357143122937e-12,1.7552678416588373e-12],"linkage_position_rad":[0.002933611171607626,0.0001563015644866966,0.0031934794658330613,-0.0034292989433270062,0.0029336110747156872,0.00015630110662511368,0.003197849388416855,-0.0034379968897648183],"tcp_position_m":[0.06812348610751807,0.4873046189500182,0.43499999999357863],"tcp_quaternion_wxyz":[-1.7943189018798236e-12,0.7071067811867491,0.7071067811863456,4.11125627441096e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.332019328218033e-16,-9.563726649715289e-17,-2.2675978442557864e-07],"object_linear_velocity_m_s":[1.4840289439879806e-16,2.0805257380799166e-16,6.383249335172729e-15],"object_angular_velocity_rad_s":[2.475384919032018e-15,-7.614348211870549e-16,-4.469494137244643e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221289599,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697378,-1.5920596013542867,1.306591115273975,-1.310202748889999,-1.5707950793627032,-0.41471399677484244,0.0],"actuator_force":[-6.689333531539887e-10,-19.807843877658343,-20.288585099862303,-2.4133468434994256,0.0006237156115957987,-2.0179413695586845e-12,-0.29336111285832517],"issued_joint_targets_rad":[-1.985510323569736,-1.582155679415503,1.3167354078240845,-1.305376055203638,-1.5707963267948788,-0.4147139967748407],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.579999999996804,"joint_targets_rad":[-1.985510323569736,-1.582155679415503,1.3167354078240845,-1.305376055203638,-1.5707963267948788,-0.4147139967748407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.599999999996793,"qpos":[-1.9855103235705769,-1.582155679425029,1.3167354078508702,-1.305376055228884,-1.5707963267945781,-0.4147139967751561,0.0029336111710130423,0.0001563015586123583,0.0031934794707146113,-0.003429298941583868,0.0029336110749783465,0.0001563011105806045,0.0031978493848619266,-0.0034379968905626024,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.3623555774351895e-16,-8.717872248619307e-17,-2.2711208985371586e-07],"qvel":[5.484174903861301e-12,4.787897731568876e-11,-1.35117643573777e-10,1.3019626484382715e-10,5.997993621505126e-12,1.6010835667976731e-12,3.063881464499613e-10,2.0686855451363294e-09,-1.9233669564394547e-09,-1.7308048304786482e-10,-1.0999485302347256e-10,-1.351073573737511e-09,1.391745024800564e-09,2.461600188332495e-11,1.7293445918163742e-16,3.0026382015744813e-16,6.5206394344700924e-15,8.41382613732019e-15,-3.06271889916198e-15,-8.160167606767797e-08],"joint_position_rad":[-1.9855103235705769,-1.582155679425029,1.3167354078508702,-1.305376055228884,-1.5707963267945781,-0.4147139967751561],"joint_velocity_rad_s":[5.484174903861301e-12,4.787897731568876e-11,-1.35117643573777e-10,1.3019626484382715e-10,5.997993621505126e-12,1.6010835667976731e-12],"linkage_position_rad":[0.0029336111710130423,0.0001563015586123583,0.0031934794707146113,-0.003429298941583868,0.0029336110749783465,0.0001563011105806045,0.0031978493848619266,-0.0034379968905626024],"tcp_position_m":[0.0681234861075017,0.4873046189500447,0.43499999999419825],"tcp_quaternion_wxyz":[-1.6239480290794462e-12,0.7071067811867325,0.7071067811863617,3.738643596225005e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.3623555774351895e-16,-8.717872248619307e-17,-2.2711208985371586e-07],"object_linear_velocity_m_s":[1.7293445918163742e-16,3.0026382015744813e-16,6.5206394344700924e-15],"object_angular_velocity_rad_s":[8.413824760386212e-15,-3.062722698690845e-15,-8.1601676067678e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221275761,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569736,-1.5920596013542863,1.3065911152739524,-1.3102027488899686,-1.570795079362705,-0.4147139967748407,0.0],"actuator_force":[-5.120455170981586e-10,-19.807843877666073,-20.28858509978818,-2.4133468435618397,0.0006237153367010251,-2.4158453015843406e-12,-0.2933611132815359],"issued_joint_targets_rad":[-1.9855103235697342,-1.582155679415488,1.3167354078240594,-1.3053760552036124,-1.5707963267948801,-0.4147139967748388],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.599999999996793,"joint_targets_rad":[-1.9855103235697342,-1.582155679415488,1.3167354078240594,-1.3053760552036124,-1.5707963267948801,-0.4147139967748388],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.619999999996782,"qpos":[-1.9855103235705018,-1.5821556794241192,1.3167354078482956,-1.3053760552264753,-1.570796326794623,-0.41471399677512566,0.0029336111702006635,0.00015630155373098508,0.0031934794752050363,-0.0034292989413888066,0.0029336110753793703,0.0001563011137110296,0.0031978493817910645,-0.0034379968906047787,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.240558735742779e-16,-7.326912651718955e-17,-2.2742162444854825e-07],"qvel":[1.463166793519134e-12,4.3359905181835537e-11,-1.2362830102979395e-10,1.1295694853032647e-10,-4.754215142258892e-12,1.4493325957151105e-12,-1.0374798229913445e-09,-5.53115332055447e-09,5.41828081310667e-09,4.206826546475647e-10,9.918959044498766e-10,3.54710709769406e-09,-3.2582057157861186e-09,-3.6544551634859866e-10,9.006536264314926e-17,1.5072799278178516e-16,6.615008391563231e-15,-5.027177899240103e-15,3.169855345635072e-15,-8.840873352144404e-09],"joint_position_rad":[-1.9855103235705018,-1.5821556794241192,1.3167354078482956,-1.3053760552264753,-1.570796326794623,-0.41471399677512566],"joint_velocity_rad_s":[1.463166793519134e-12,4.3359905181835537e-11,-1.2362830102979395e-10,1.1295694853032647e-10,-4.754215142258892e-12,1.4493325957151105e-12],"linkage_position_rad":[0.0029336111702006635,0.00015630155373098508,0.0031934794752050363,-0.0034292989413888066,0.0029336110753793703,0.0001563011137110296,0.0031978493817910645,-0.0034379968906047787],"tcp_position_m":[0.06812348610748593,0.4873046189500682,0.434999999994758],"tcp_quaternion_wxyz":[-1.4683019314202554e-12,0.7071067811867168,0.7071067811863775,3.400132517908273e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.240558735742779e-16,-7.326912651718955e-17,-2.2742162444854825e-07],"object_linear_velocity_m_s":[9.006536264314926e-17,1.5072799278178516e-16,6.615008391563231e-15],"object_angular_velocity_rad_s":[-5.027176456156756e-15,3.169857634406199e-15,-8.840873352144411e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221263969,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697342,-1.592059601354286,1.306591115273932,-1.3102027488899404,-1.5707950793627066,-0.4147139967748388,0.0],"actuator_force":[9.499672160018235e-10,-19.807843877677897,-20.28858509927568,-2.4133468430281937,0.0006237164336653223,-1.4779288903810084e-12,-0.2933611120510821],"issued_joint_targets_rad":[-1.9855103235697327,-1.5821556794154743,1.3167354078240363,-1.3053760552035893,-1.5707963267948821,-0.4147139967748365],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.619999999996782,"joint_targets_rad":[-1.9855103235697327,-1.5821556794154743,1.3167354078240363,-1.3053760552035893,-1.5707963267948821,-0.4147139967748365],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.639999999996771,"qpos":[-1.9855103235704241,-1.5821556794232945,1.3167354078459694,-1.3053760552242766,-1.5707963267946212,-0.41471399677509796,0.002933611174322959,0.00015630157409416272,0.003193479454878846,-0.0034292989418335086,0.002933611071997077,0.00015630110065032222,0.003197849394631652,-0.003437996890088338,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.5878179917703384e-16,-9.152440515041959e-17,-2.2792405439612198e-07],"qvel":[4.9295503222408445e-12,3.933880851845267e-11,-1.1031634031032107e-10,1.0591919104346672e-10,1.968637604690191e-12,1.3212250215198411e-12,9.240494659047386e-10,4.393564275784645e-09,-4.373730257150897e-09,-2.4971485717730773e-10,-8.569093564322089e-10,-2.850866865021402e-09,2.709978569835854e-09,2.436681042086529e-10,1.127497924052004e-16,1.964664100407387e-16,6.694111782067774e-15,-4.22503265646286e-15,2.408145026646586e-15,-1.6141202142437613e-08],"joint_position_rad":[-1.9855103235704241,-1.5821556794232945,1.3167354078459694,-1.3053760552242766,-1.5707963267946212,-0.41471399677509796],"joint_velocity_rad_s":[4.9295503222408445e-12,3.933880851845267e-11,-1.1031634031032107e-10,1.0591919104346672e-10,1.968637604690191e-12,1.3212250215198411e-12],"linkage_position_rad":[0.002933611174322959,0.00015630157409416272,0.003193479454878846,-0.0034292989418335086,0.002933611071997077,0.00015630110065032222,0.003197849394631652,-0.003437996890088338],"tcp_position_m":[0.06812348610745482,0.48730461895009014,0.43499999999526034],"tcp_quaternion_wxyz":[-1.3427630364062057e-12,0.7071067811866993,0.7071067811863956,3.0750069195179466e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.5878179917703384e-16,-9.152440515041959e-17,-2.2792405439612198e-07],"object_linear_velocity_m_s":[1.127497924052004e-16,1.964664100407387e-16,6.694111782067774e-15],"object_angular_velocity_rad_s":[-4.225031555759439e-15,2.4081469577453413e-15,-1.6141202142437626e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221323058,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697327,-1.5920596013542856,1.3065911152739131,-1.3102027488899153,-1.5707950793627088,-0.4147139967748365,0.0],"actuator_force":[-5.88897819397971e-10,-19.807843877717914,-20.288585099985994,-2.4133468434113183,0.0006237157592750009,-1.4210854715202004e-12,-0.2933611126517023],"issued_joint_targets_rad":[-1.985510323569731,-1.582155679415462,1.3167354078240163,-1.3053760552035694,-1.5707963267948832,-0.41471399677483556],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.639999999996771,"joint_targets_rad":[-1.985510323569731,-1.582155679415462,1.3167354078240163,-1.3053760552035694,-1.5707963267948832,-0.41471399677483556],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.65999999999676,"qpos":[-1.9855103235703633,-1.5821556794225475,1.3167354078438611,-1.3053760552223022,-1.5707963267946545,-0.41471399677507276,0.0029336111718981585,0.00015630156248848837,0.003193479466427832,-0.0034292989414434244,0.002933611074245719,0.00015630110807915196,0.003197849387657574,-0.00343799689062942,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.8388038461577548e-16,-9.837412542700914e-17,-2.2836739087006923e-07],"qvel":[4.981210838083172e-12,3.562850776242429e-11,-9.97167594444218e-11,9.741825414638041e-11,5.704712697214778e-12,1.2038780774028329e-12,5.992495123803373e-10,3.565740937761366e-09,-3.375304353035657e-09,-3.3224393885088535e-10,-4.331280623728407e-10,-2.315322171689809e-09,2.220132210604173e-09,1.7574039056040963e-10,1.3165392505746463e-16,2.5019648876910473e-16,6.7635007211068486e-15,-1.6279507238364379e-15,1.4321921414149697e-15,-2.946975895088845e-08],"joint_position_rad":[-1.9855103235703633,-1.5821556794225475,1.3167354078438611,-1.3053760552223022,-1.5707963267946545,-0.41471399677507276],"joint_velocity_rad_s":[4.981210838083172e-12,3.562850776242429e-11,-9.97167594444218e-11,9.741825414638041e-11,5.704712697214778e-12,1.2038780774028329e-12],"linkage_position_rad":[0.0029336111718981585,0.00015630156248848837,0.003193479466427832,-0.0034292989414434244,0.002933611074245719,0.00015630110807915196,0.003197849387657574,-0.00343799689062942],"tcp_position_m":[0.06812348610744128,0.4873046189501095,0.4349999999957175],"tcp_quaternion_wxyz":[-1.2161093477676364e-12,0.7071067811866867,0.707106781186408,2.7952547951373733e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.8388038461577548e-16,-9.837412542700914e-17,-2.2836739087006923e-07],"object_linear_velocity_m_s":[1.3165392505746463e-16,2.5019648876910473e-16,6.7635007211068486e-15],"object_angular_velocity_rad_s":[-1.6279500639061786e-15,1.4321928957943602e-15,-2.946975895088848e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287326,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569731,-1.5920596013542854,1.306591115273897,-1.310202748889893,-1.5707950793627097,-0.41471399677483556,0.0],"actuator_force":[-7.280505087692291e-10,-19.80784387772701,-20.288585100041473,-2.4133468435372833,0.0006237154019572699,-1.7905676941154525e-12,-0.29336111313780117],"issued_joint_targets_rad":[-1.98551032356973,-1.5821556794154505,1.3167354078239963,-1.3053760552035498,-1.5707963267948848,-0.4147139967748339],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.65999999999676,"joint_targets_rad":[-1.98551032356973,-1.5821556794154505,1.3167354078239963,-1.3053760552035498,-1.5707963267948848,-0.4147139967748339],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.679999999996749,"qpos":[-1.9855103235703087,-1.5821556794218703,1.3167354078419524,-1.3053760552205171,-1.5707963267946927,-0.41471399677505,0.002933611169884324,0.00015630155259152955,0.0031934794764828986,-0.003429298941446929,0.0029336110758781593,0.00015630111431750622,0.0031978493814048777,-0.0034379968907500536,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.9092132543356778e-16,-8.764479013582193e-17,-2.2878764074911744e-07],"qvel":[3.044434375508773e-12,3.225387017730912e-11,-9.09977310002526e-11,8.747076325195696e-11,4.933399433548936e-12,1.1004542619040316e-12,-2.454559924131345e-10,-7.865529404112e-10,9.424935286760736e-10,-2.4047956443327927e-11,4.286875303904906e-10,4.728828293518047e-10,-3.171034415246968e-10,-1.3049939685865344e-10,1.3609940025154335e-16,3.0680350210139227e-16,6.845379669172956e-15,2.686899840847306e-15,3.698277219471493e-16,-5.380433780332255e-08],"joint_position_rad":[-1.9855103235703087,-1.5821556794218703,1.3167354078419524,-1.3053760552205171,-1.5707963267946927,-0.41471399677505],"joint_velocity_rad_s":[3.044434375508773e-12,3.225387017730912e-11,-9.09977310002526e-11,8.747076325195696e-11,4.933399433548936e-12,1.1004542619040316e-12],"linkage_position_rad":[0.002933611169884324,0.00015630155259152955,0.0031934794764828986,-0.003429298941446929,0.0029336110758781593,0.00015630111431750622,0.0031978493814048777,-0.0034379968907500536],"tcp_position_m":[0.06812348610743134,0.4873046189501274,0.43499999999613126],"tcp_quaternion_wxyz":[-1.0983022326789304e-12,0.7071067811866754,0.7071067811864193,2.544357528865894e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.9092132543356778e-16,-8.764479013582193e-17,-2.2878764074911744e-07],"object_linear_velocity_m_s":[1.3609940025154335e-16,3.0680350210139227e-16,6.845379669172956e-15],"object_angular_velocity_rad_s":[2.6869000195023967e-15,3.698265130329489e-16,-5.380433780332262e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322125762,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551032356973,-1.592059601354285,1.3065911152738805,-1.3102027488898715,-1.5707950793627112,-0.4147139967748339,0.0],"actuator_force":[-6.048139766789973e-11,-19.807843877731102,-20.288585099744978,-2.4133468434242786,0.0006237154974542136,-1.9895196601282805e-12,-0.2933611132042819],"issued_joint_targets_rad":[-1.9855103235697287,-1.5821556794154406,1.3167354078239801,-1.3053760552035332,-1.570796326794886,-0.4147139967748329],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.679999999996749,"joint_targets_rad":[-1.9855103235697287,-1.5821556794154406,1.3167354078239801,-1.3053760552035332,-1.570796326794886,-0.4147139967748329],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.699999999996738,"qpos":[-1.9855103235702538,-1.582155679421257,1.3167354078402276,-1.305376055218897,-1.5707963267947191,-0.41471399677502924,0.0029336111717323575,0.0001563015594115966,0.0031934794687343278,-0.003429298940662769,0.0029336110738119514,0.00015630111010069936,0.003197849385567397,-0.003437996890757735,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.6602463807092865e-16,-6.940069315001701e-17,-2.290895675258826e-07],"qvel":[-4.054180959609913e-12,2.91759458704788e-11,-8.412167241841907e-11,6.46414075080314e-11,-3.035278648370285e-11,9.636447803400628e-13,-2.5028695927832317e-09,-1.4362967364125005e-08,1.3466152461994305e-08,1.2422939527840917e-09,1.716941576016875e-09,9.305473376277519e-09,-8.916790398729496e-09,-6.652792081062698e-10,1.726887819155757e-16,4.3013671762977637e-16,6.952238635293126e-15,1.3173501537771327e-14,-4.403864656742426e-15,-9.823313354135543e-08],"joint_position_rad":[-1.9855103235702538,-1.582155679421257,1.3167354078402276,-1.305376055218897,-1.5707963267947191,-0.41471399677502924],"joint_velocity_rad_s":[-4.054180959609913e-12,2.91759458704788e-11,-8.412167241841907e-11,6.46414075080314e-11,-3.035278648370285e-11,9.636447803400628e-13],"linkage_position_rad":[0.0029336111717323575,0.0001563015594115966,0.0031934794687343278,-0.003429298940662769,0.0029336110738119514,0.00015630111010069936,0.003197849385567397,-0.003437996890757735],"tcp_position_m":[0.06812348610741746,0.4873046189501431,0.43499999999650407],"tcp_quaternion_wxyz":[-9.936532376324444e-13,0.7071067811866634,0.7071067811864313,2.3120037479575133e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.6602463807092865e-16,-6.940069315001701e-17,-2.290895675258826e-07],"object_linear_velocity_m_s":[1.726887819155757e-16,4.3013671762977637e-16,6.952238635293126e-15],"object_angular_velocity_rad_s":[1.3173499533645965e-14,-4.403870659947272e-15,-9.823313354135556e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283315,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697287,-1.592059601354285,1.3065911152738674,-1.3102027488898536,-1.570795079362713,-0.4147139967748329,0.0],"actuator_force":[2.672095433808863e-09,-19.8078438777261,-20.288585099071497,-2.4133468419423707,0.0006237190383444613,1.7905676941154525e-12,-0.2933611083475754],"issued_joint_targets_rad":[-1.9855103235697278,-1.5821556794154314,1.3167354078239648,-1.3053760552035178,-1.5707963267948866,-0.41471399677483123],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.699999999996738,"joint_targets_rad":[-1.9855103235697278,-1.5821556794154314,1.3167354078239648,-1.3053760552035178,-1.5707963267948866,-0.41471399677483123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.719999999996727,"qpos":[-1.985510323570201,-1.5821556794207012,1.3167354078386675,-1.3053760552174176,-1.5707963267947118,-0.41471399677501025,0.0029336111726125766,0.00015630156645257416,0.0031934794626711847,-0.0034292989418738674,0.002933611073657951,0.00015630110545932123,0.0031978493901132017,-0.0034379968903756634,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.6100803064522113e-16,-6.465884253816725e-17,-2.2946218920052347e-07],"qvel":[4.247676088210855e-12,2.6515601344100627e-11,-7.362773610602906e-11,7.258188780469854e-11,4.396535753945974e-12,9.070440094461265e-13,8.240383508326261e-10,4.394733083707436e-09,-4.2522163425012795e-09,-3.5168822123398895e-10,-7.047964351329103e-10,-2.8396847267327855e-09,2.680215941115664e-09,2.515853553859052e-10,8.09014020557296e-17,1.9826425198135888e-16,7.045219813605484e-15,-6.340422331944523e-15,2.7001654196143546e-15,-1.064275557162755e-08],"joint_position_rad":[-1.985510323570201,-1.5821556794207012,1.3167354078386675,-1.3053760552174176,-1.5707963267947118,-0.41471399677501025],"joint_velocity_rad_s":[4.247676088210855e-12,2.6515601344100627e-11,-7.362773610602906e-11,7.258188780469854e-11,4.396535753945974e-12,9.070440094461265e-13],"linkage_position_rad":[0.0029336111726125766,0.00015630156645257416,0.0031934794626711847,-0.0034292989418738674,0.002933611073657951,0.00015630110545932123,0.0031978493901132017,-0.0034379968903756634],"tcp_position_m":[0.06812348610739463,0.487304618950158,0.4349999999968389],"tcp_quaternion_wxyz":[-9.111111203653858e-13,0.7071067811866515,0.7071067811864432,2.0892772123545505e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.6100803064522113e-16,-6.465884253816725e-17,-2.2946218920052347e-07],"object_linear_velocity_m_s":[8.09014020557296e-17,1.9826425198135888e-16,7.045219813605484e-15],"object_angular_velocity_rad_s":[-6.340421091395832e-15,2.70016833281559e-15,-1.0642755571627567e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221298253,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697278,-1.5920596013542847,1.306591115273855,-1.3102027488898365,-1.5707950793627135,-0.41471399677483123,0.0],"actuator_force":[-7.526068657170981e-10,-19.80784387777294,-20.288585100173805,-2.4133468434675933,0.000623715559527227,-1.1937117960769683e-12,-0.29336111290973593],"issued_joint_targets_rad":[-1.985510323569727,-1.5821556794154232,1.3167354078239506,-1.3053760552035034,-1.570796326794888,-0.41471399677483095],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.719999999996727,"joint_targets_rad":[-1.985510323569727,-1.5821556794154232,1.3167354078239506,-1.3053760552035034,-1.570796326794888,-0.41471399677483095],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.739999999996716,"qpos":[-1.9855103235701608,-1.5821556794201976,1.3167354078372537,-1.3053760552160947,-1.570796326794742,-0.41471399677499315,0.0029336111700454144,0.0001563015542636743,0.0031934794751087006,-0.0034292989417798797,0.00293361107593877,0.00015630111318939077,0.003197849382508545,-0.003437996890691487,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.703850286112242e-16,-4.7703179186433005e-17,-2.2993903830318447e-07],"qvel":[3.666980094507575e-12,2.3996844420362103e-11,-6.686680532572681e-11,6.6782560574672e-11,7.448057727450443e-12,8.284897804285075e-13,2.870967792321104e-10,2.1628087900008682e-09,-1.9320393335702885e-09,-2.59996124291628e-10,-6.888651116181989e-11,-1.4112364646868131e-09,1.4182395427921354e-09,5.845408312061097e-11,6.257581734106456e-17,2.1503056176804413e-16,7.121547646548463e-15,-4.8052932706908006e-15,2.246359329987973e-15,-1.9430984043282608e-08],"joint_position_rad":[-1.9855103235701608,-1.5821556794201976,1.3167354078372537,-1.3053760552160947,-1.570796326794742,-0.41471399677499315],"joint_velocity_rad_s":[3.666980094507575e-12,2.3996844420362103e-11,-6.686680532572681e-11,6.6782560574672e-11,7.448057727450443e-12,8.284897804285075e-13],"linkage_position_rad":[0.0029336111700454144,0.0001563015542636743,0.0031934794751087006,-0.0034292989417798797,0.00293361107593877,0.00015630111318939077,0.003197849382508545,-0.003437996890691487],"tcp_position_m":[0.068123486107388,0.4873046189501712,0.43499999999714434],"tcp_quaternion_wxyz":[-8.222633267589075e-13,0.7071067811866432,0.7071067811864511,1.9023486707506196e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.703850286112242e-16,-4.7703179186433005e-17,-2.2993903830318447e-07],"object_linear_velocity_m_s":[6.257581734106456e-17,2.1503056176804413e-16,7.121547646548463e-15],"object_angular_velocity_rad_s":[-4.805292235785052e-15,2.2463615464582636e-15,-1.943098404328264e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221260725,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569727,-1.5920596013542845,1.3065911152738432,-1.3102027488898205,-1.5707950793627146,-0.41471399677483095,0.0],"actuator_force":[-5.993570084683597e-10,-19.807843877772484,-20.288585100074215,-2.4133468435411487,0.0006237152689436698,-1.7337242752546445e-12,-0.2933611133902606],"issued_joint_targets_rad":[-1.9855103235697258,-1.5821556794154157,1.3167354078239377,-1.3053760552034905,-1.5707963267948886,-0.41471399677482973],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.739999999996716,"joint_targets_rad":[-1.9855103235697258,-1.5821556794154157,1.3167354078239377,-1.3053760552034905,-1.5707963267948886,-0.41471399677482973],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.759999999996705,"qpos":[-1.9855103235701235,-1.5821556794197411,1.3167354078359748,-1.3053760552148985,-1.5707963267947749,-0.4147139967749775,0.002933611170417082,0.00015630155257637435,0.0031934794754848285,-0.003429298940306226,0.0029336110750831732,0.0001563011144660928,0.003197849381557318,-0.0034379968911545304,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999745,1.642871109554253e-16,-2.9922193854116636e-17,-2.303527741781826e-07],"qvel":[-3.899570117903484e-13,2.1708656874858603e-11,-6.196459761686054e-11,5.525136135299053e-11,-4.034709642832939e-12,7.468575138298255e-13,-1.199618859250794e-09,-6.401739674290535e-09,6.255388148352232e-09,4.1846841477385376e-10,1.1544795684275912e-09,4.088834730697055e-09,-3.7058029791640167e-09,-4.067314006057007e-10,3.950390362084295e-17,2.317032826432123e-16,5.8253622652985926e-15,-1.6044496564746407e-15,1.4644497720699432e-15,-3.54760699284357e-08],"joint_position_rad":[-1.9855103235701235,-1.5821556794197411,1.3167354078359748,-1.3053760552148985,-1.5707963267947749,-0.4147139967749775],"joint_velocity_rad_s":[-3.899570117903484e-13,2.1708656874858603e-11,-6.196459761686054e-11,5.525136135299053e-11,-4.034709642832939e-12,7.468575138298255e-13],"linkage_position_rad":[0.002933611170417082,0.00015630155257637435,0.0031934794754848285,-0.003429298940306226,0.0029336110750831732,0.0001563011144660928,0.003197849381557318,-0.0034379968911545304],"tcp_position_m":[0.06812348610738324,0.48730461895018307,0.43499999999742023],"tcp_quaternion_wxyz":[-7.392642890727797e-13,0.7071067811866357,0.707106781186459,1.734206605336469e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999745,1.642871109554253e-16,-2.9922193854116636e-17,-2.303527741781826e-07],"object_linear_velocity_m_s":[3.950390362084295e-17,2.317032826432123e-16,5.8253622652985926e-15],"object_angular_velocity_rad_s":[-1.604448979671292e-15,1.464450522905171e-15,-3.547606992843577e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221261734,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697258,-1.5920596013542845,1.3065911152738328,-1.3102027488898065,-1.5707950793627155,-0.41471399677482973,0.0],"actuator_force":[9.51331458054483e-10,-19.80784387777021,-20.28858509949805,-2.4133468429791947,0.0006237164332105749,-8.242295734817162e-13,-0.2933611120493163],"issued_joint_targets_rad":[-1.9855103235697251,-1.5821556794154084,1.3167354078239257,-1.3053760552034792,-1.5707963267948892,-0.4147139967748291],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.759999999996705,"joint_targets_rad":[-1.9855103235697251,-1.5821556794154084,1.3167354078239257,-1.3053760552034792,-1.5707963267948892,-0.4147139967748291],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.779999999996694,"qpos":[-1.9855103235700782,-1.5821556794193279,1.3167354078348208,-1.3053760552137934,-1.5707963267947562,-0.4147139967749632,0.0029336111734721173,0.00015630157080298053,0.003193479458475854,-0.0034292989422611496,0.00293361107287951,0.00015630110265193813,0.003197849392709684,-0.0034379968900722763,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,1.5153154966872004e-16,3.0894248579287922e-18,-2.3073302424063032e-07],"qvel":[3.4512815035628513e-12,1.9737621933228448e-11,-5.44145941530952e-11,5.387721394713749e-11,2.926489757615041e-12,6.776819827877549e-13,9.70752205249939e-10,4.730458944639713e-09,-4.654279355020121e-09,-3.199454325728397e-10,-8.952657363794831e-10,-3.054494225245138e-09,2.868718487619292e-09,2.8774100488548544e-10,-4.255037435665716e-17,2.7145939112744123e-16,5.65050213892013e-15,3.2555494486913834e-15,6.0249422842672484e-15,-6.477034486590027e-08],"joint_position_rad":[-1.9855103235700782,-1.5821556794193279,1.3167354078348208,-1.3053760552137934,-1.5707963267947562,-0.4147139967749632],"joint_velocity_rad_s":[3.4512815035628513e-12,1.9737621933228448e-11,-5.44145941530952e-11,5.387721394713749e-11,2.926489757615041e-12,6.776819827877549e-13],"linkage_position_rad":[0.0029336111734721173,0.00015630157080298053,0.003193479458475854,-0.0034292989422611496,0.00293361107287951,0.00015630110265193813,0.003197849392709684,-0.0034379968900722763],"tcp_position_m":[0.06812348610735923,0.48730461895019356,0.4349999999976659],"tcp_quaternion_wxyz":[-6.818526730990677e-13,0.7071067811866247,0.7071067811864697,1.5610212625842374e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,1.5153154966872004e-16,3.0894248579287922e-18,-2.3073302424063032e-07],"object_linear_velocity_m_s":[-4.255037435665716e-17,2.7145939112744123e-16,5.65050213892013e-15],"object_angular_velocity_rad_s":[3.255552228597143e-15,6.024940801570568e-15,-6.477034486590027e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322131122,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697251,-1.5920596013542838,1.3065911152738228,-1.310202748889794,-1.5707950793627163,-0.4147139967748291,0.0],"actuator_force":[-6.748450687155128e-10,-19.80784387780659,-20.28858510022974,-2.4133468433880125,0.0006237157273289995,-7.389644451905042e-13,-0.29336111269501375],"issued_joint_targets_rad":[-1.9855103235697242,-1.582155679415403,1.3167354078239166,-1.3053760552034694,-1.57079632679489,-0.4147139967748285],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.779999999996694,"joint_targets_rad":[-1.9855103235697242,-1.582155679415403,1.3167354078239166,-1.3053760552034694,-1.57079632679489,-0.4147139967748285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.799999999996682,"qpos":[-1.985510323570049,-1.5821556794189533,1.3167354078337727,-1.305376055212812,-1.5707963267947773,-0.4147139967749503,0.0029336111705627584,0.00015630155766628543,0.003193479472008296,-0.003429298942213868,0.0029336110756072132,0.00015630111098663998,0.003197849384593624,-0.0034379968904801592,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,1.2192943677904103e-16,2.7681370097448336e-17,-2.310343320653561e-07],"qvel":[3.672105264565477e-12,1.7859663198300967e-11,-4.912604924318756e-11,5.043105302910009e-11,6.911801967399202e-12,6.213661600576572e-13,6.499244089649762e-10,3.886646718932034e-09,-3.6692831244718834e-09,-3.664626442173659e-10,-4.664945428137217e-10,-2.5077518469037537e-09,2.399940500984135e-09,1.925522597726056e-10,-1.5386221444961162e-16,2.2395641756052555e-16,6.184796969520986e-15,5.238669904807006e-16,1.0812836996104437e-14,-1.1825429317594159e-07],"joint_position_rad":[-1.985510323570049,-1.5821556794189533,1.3167354078337727,-1.305376055212812,-1.5707963267947773,-0.4147139967749503],"joint_velocity_rad_s":[3.672105264565477e-12,1.7859663198300967e-11,-4.912604924318756e-11,5.043105302910009e-11,6.911801967399202e-12,6.213661600576572e-13],"linkage_position_rad":[0.0029336111705627584,0.00015630155766628543,0.003193479472008296,-0.003429298942213868,0.0029336110756072132,0.00015630111098663998,0.003197849384593624,-0.0034379968904801592],"tcp_position_m":[0.06812348610735444,0.4873046189502036,0.43499999999789174],"tcp_quaternion_wxyz":[-6.163386648786814e-13,0.7071067811866188,0.7071067811864759,1.421109607285473e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,1.2192943677904103e-16,2.7681370097448336e-17,-2.310343320653561e-07],"object_linear_velocity_m_s":[-1.5386221444961162e-16,2.2395641756052555e-16,6.184796969520986e-15],"object_angular_velocity_rad_s":[5.238719802069159e-16,1.0812836782878123e-14,-1.1825429317594159e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221269559,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697242,-1.5920596013542845,1.3065911152738157,-1.3102027488897832,-1.5707950793627168,-0.4147139967748285,0.0],"actuator_force":[-8.189999789465219e-10,-19.80784387780659,-20.288585100263845,-2.413346843528757,0.0006237153390884487,-1.2221335055073723e-12,-0.29336111322564795],"issued_joint_targets_rad":[-1.9855103235697238,-1.5821556794153968,1.3167354078239062,-1.3053760552034597,-1.5707963267948906,-0.41471399677482773],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.799999999996682,"joint_targets_rad":[-1.9855103235697238,-1.5821556794153968,1.3167354078239062,-1.3053760552034597,-1.5707963267948906,-0.41471399677482773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.819999999996671,"qpos":[-1.9855103235700238,-1.582155679418614,1.316735407832824,-1.3053760552119271,-1.5707963267948075,-0.4147139967749385,0.0029336111699276336,0.00015630155080815288,0.0031934794774902205,-0.0034292989404312957,0.002933611075770256,0.0001563011155462644,0.0031978493806728643,-0.003437996891292931,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,9.075081654883356e-17,5.553079251795653e-17,-2.3148289876752835e-07],"qvel":[1.7805493262839729e-12,1.6145861359905602e-11,-4.5264603013043483e-11,4.490156400956132e-11,6.0411118603346085e-12,5.689035251134573e-13,-3.589514215200088e-10,-1.2590260154877287e-09,1.4313504836306464e-09,-6.507437900016353e-11,5.5858700999545e-10,7.675631108490988e-10,-5.59274790374649e-10,-1.4954385468096633e-10,-6.338908788925425e-17,1.1609797812667564e-16,6.356881538337886e-15,-4.152010665860467e-15,-1.1231000122409778e-15,-1.2811884261406395e-08],"joint_position_rad":[-1.9855103235700238,-1.582155679418614,1.316735407832824,-1.3053760552119271,-1.5707963267948075,-0.4147139967749385],"joint_velocity_rad_s":[1.7805493262839729e-12,1.6145861359905602e-11,-4.5264603013043483e-11,4.490156400956132e-11,6.0411118603346085e-12,5.689035251134573e-13],"linkage_position_rad":[0.0029336111699276336,0.00015630155080815288,0.0031934794774902205,-0.0034292989404312957,0.002933611075770256,0.0001563011155462644,0.0031978493806728643,-0.003437996891292931],"tcp_position_m":[0.0681234861073537,0.4873046189502125,0.4349999999980965],"tcp_quaternion_wxyz":[-5.523907780778423e-13,0.7071067811866141,0.7071067811864804,1.2983132233670576e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,9.075081654883356e-17,5.553079251795653e-17,-2.3148289876752835e-07],"object_linear_velocity_m_s":[-6.338908788925425e-17,1.1609797812667564e-16,6.356881538337886e-15],"object_angular_velocity_rad_s":[-4.152011187239823e-15,-1.12309808767655e-15,-1.2811884261406398e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221253775,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697238,-1.5920596013542838,1.3065911152738068,-1.3102027488897723,-1.5707950793627175,-0.41471399677482773,0.0],"actuator_force":[-1.1232259566895664e-10,-19.80784387779795,-20.288585099928696,-2.4133468434126826,0.0006237154409518553,-1.5063505998114124e-12,-0.2933611132830724],"issued_joint_targets_rad":[-1.9855103235697233,-1.5821556794153921,1.3167354078238982,-1.3053760552034512,-1.5707963267948912,-0.414713996774827],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.819999999996671,"joint_targets_rad":[-1.9855103235697233,-1.5821556794153921,1.3167354078238982,-1.3053760552034512,-1.5707963267948912,-0.414713996774827],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.83999999999666,"qpos":[-1.9855103235699947,-1.5821556794183067,1.316735407831968,-1.3053760552111193,-1.5707963267948235,-0.41471399677492776,0.002933611170612537,0.00015630155473556764,0.0031934794736719163,-0.00342929894103117,0.002933611074882308,0.00015630111299286948,0.00319784938274774,-0.0034379968907503923,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,6.104387963575402e-17,7.846349551597916e-17,-2.31933571630817e-07],"qvel":[-5.8350120934988376e-12,1.4582275474960317e-11,-4.293481977149537e-11,2.4806209546782927e-11,-3.2372093656790034e-11,4.784193525632171e-13,-2.7523189755203234e-09,-1.570361196664036e-08,1.4756718429948209e-08,1.3059301557972518e-09,1.8902316724244107e-09,1.0117813038789536e-08,-9.715723891345858e-09,-6.964746293691655e-10,-1.0163493227177477e-16,8.214448928462815e-17,6.5053738678815e-15,-3.089211479117133e-15,-9.094494537393497e-16,-2.3391265257602663e-08],"joint_position_rad":[-1.9855103235699947,-1.5821556794183067,1.316735407831968,-1.3053760552111193,-1.5707963267948235,-0.41471399677492776],"joint_velocity_rad_s":[-5.8350120934988376e-12,1.4582275474960317e-11,-4.293481977149537e-11,2.4806209546782927e-11,-3.2372093656790034e-11,4.784193525632171e-13],"linkage_position_rad":[0.002933611170612537,0.00015630155473556764,0.0031934794736719163,-0.00342929894103117,0.002933611074882308,0.00015630111299286948,0.00319784938274774,-0.0034379968907503923],"tcp_position_m":[0.0681234861073463,0.48730461895021987,0.43499999999827954],"tcp_quaternion_wxyz":[-4.978471172177553e-13,0.7071067811866073,0.707106781186487,1.1803619615525023e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,6.104387963575402e-17,7.846349551597916e-17,-2.31933571630817e-07],"object_linear_velocity_m_s":[-1.0163493227177477e-16,8.214448928462815e-17,6.5053738678815e-15],"object_angular_velocity_rad_s":[-3.0892119046512422e-15,-9.094480178997604e-16,-2.3391265257602673e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221267793,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697233,-1.592059601354284,1.3065911152738003,-1.3102027488897632,-1.5707950793627186,-0.414713996774827,0.0],"actuator_force":[2.876731741707772e-09,-19.807843877787946,-20.288585099161082,-2.413346841802536,0.0006237192897060595,2.5295321393059567e-12,-0.29336110796430576],"issued_joint_targets_rad":[-1.9855103235697227,-1.582155679415387,1.3167354078238898,-1.305376055203443,-1.5707963267948915,-0.4147139967748267],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.83999999999666,"joint_targets_rad":[-1.9855103235697227,-1.582155679415387,1.3167354078238898,-1.305376055203443,-1.5707963267948915,-0.4147139967748267],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.85999999999665,"qpos":[-1.985510323569964,-1.582155679418028,1.3167354078311941,-1.3053760552103755,-1.5707963267948035,-0.41471399677491805,0.00293361117132666,0.00015630156199355854,0.0031934794679194457,-0.0034292989426749146,0.0029336110749781526,0.0001563011081998153,0.003197849387175791,-0.0034379968901878943,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,4.7901742247303366e-17,9.257749805294737e-17,-2.3237060842563582e-07],"qvel":[3.3087844505004674e-12,1.3303362236718999e-11,-3.613257089045936e-11,3.774854141120043e-11,5.321688175005754e-12,4.647502812779973e-13,8.955380212287982e-10,4.7930470890331745e-09,-4.630376274308612e-09,-3.8690074358042607e-10,-7.642010439996382e-10,-3.082747357540751e-09,2.9053639960560306e-09,2.7575673260736154e-10,-1.3925680960897225e-16,7.284045852426204e-17,6.595579488632295e-15,-9.83141756017516e-16,9.672763947057544e-16,-4.270654333022006e-08],"joint_position_rad":[-1.985510323569964,-1.582155679418028,1.3167354078311941,-1.3053760552103755,-1.5707963267948035,-0.41471399677491805],"joint_velocity_rad_s":[3.3087844505004674e-12,1.3303362236718999e-11,-3.613257089045936e-11,3.774854141120043e-11,5.321688175005754e-12,4.647502812779973e-13],"linkage_position_rad":[0.00293361117132666,0.00015630156199355854,0.0031934794679194457,-0.0034292989426749146,0.0029336110749781526,0.0001563011081998153,0.003197849387175791,-0.0034379968901878943],"tcp_position_m":[0.06812348610732821,0.4873046189502277,0.4349999999984434],"tcp_quaternion_wxyz":[-4.62368027114392e-13,0.7071067811866001,0.7071067811864942,1.0610529486263817e-12],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,4.7901742247303366e-17,9.257749805294737e-17,-2.3237060842563582e-07],"object_linear_velocity_m_s":[-1.3925680960897225e-16,7.284045852426204e-17,6.595579488632295e-15],"object_angular_velocity_rad_s":[-9.831413143915307e-16,9.672768557035842e-16,-4.2706543330220086e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221282091,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697227,-1.5920596013542834,1.3065911152737935,-1.310202748889754,-1.5707950793627183,-0.4147139967748267,0.0],"actuator_force":[-8.408278517890722e-10,-19.807843877832056,-20.288585100347973,-2.4133468434641827,0.0006237155104145131,-7.958078640513122e-13,-0.2933611129719255],"issued_joint_targets_rad":[-1.985510323569722,-1.582155679415383,1.316735407823884,-1.305376055203437,-1.5707963267948923,-0.41471399677482584],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.85999999999665,"joint_targets_rad":[-1.985510323569722,-1.582155679415383,1.316735407823884,-1.305376055203437,-1.5707963267948923,-0.41471399677482584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.879999999996638,"qpos":[-1.985510323569947,-1.5821556794177756,1.3167354078304907,-1.30537605520972,-1.5707963267948277,-0.4147139967749092,0.002933611169996217,0.00015630155224758105,0.0031934794763973204,-0.0034292989408203235,0.0029336110759383928,0.0001563011145993289,0.0031978493816164047,-0.003437996891220347,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,3.501983311768234e-17,9.647708128847477e-17,-2.3270724041507814e-07],"qvel":[2.8270674310737684e-12,1.2016113938458236e-11,-3.293789761952231e-11,3.533140602467057e-11,8.552323108225614e-12,4.310850247150311e-13,2.0446811908538675e-10,1.9486436886737636e-09,-1.6678380116768348e-09,-3.3183673036117376e-10,3.26018654959558e-11,-1.2837046552294857e-09,1.3046831444513091e-09,6.149039821037428e-11,-2.269859831473716e-16,6.080414904516853e-17,6.653866197425117e-15,1.708559455967472e-17,7.558684660506215e-15,-7.797136337561753e-08],"joint_position_rad":[-1.985510323569947,-1.5821556794177756,1.3167354078304907,-1.30537605520972,-1.5707963267948277,-0.4147139967749092],"joint_velocity_rad_s":[2.8270674310737684e-12,1.2016113938458236e-11,-3.293789761952231e-11,3.533140602467057e-11,8.552323108225614e-12,4.310850247150311e-13],"linkage_position_rad":[0.002933611169996217,0.00015630155224758105,0.0031934794763973204,-0.0034292989408203235,0.0029336110759383928,0.0001563011145993289,0.0031978493816164047,-0.003437996891220347],"tcp_position_m":[0.06812348610732923,0.48730461895023425,0.43499999999859473],"tcp_quaternion_wxyz":[-4.139137726780594e-13,0.7071067811865973,0.707106781186497,9.699945873277607e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,3.501983311768234e-17,9.647708128847477e-17,-2.3270724041507814e-07],"object_linear_velocity_m_s":[-2.269859831473716e-16,6.080414904516853e-17,6.653866197425117e-15],"object_angular_velocity_rad_s":[1.7089097436072056e-17,7.55868465801461e-15,-7.797136337561759e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221256067,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569722,-1.5920596013542836,1.306591115273789,-1.3102027488897474,-1.5707950793627192,-0.41471399677482584,0.0],"actuator_force":[-6.812115316279233e-10,-19.80784387782205,-20.288585100228374,-2.413346843546833,0.0006237151990262646,-1.4210854715202004e-12,-0.2933611134820804],"issued_joint_targets_rad":[-1.9855103235697218,-1.5821556794153795,1.316735407823877,-1.3053760552034304,-1.5707963267948923,-0.41471399677482584],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.879999999996638,"joint_targets_rad":[-1.9855103235697218,-1.5821556794153795,1.316735407823877,-1.3053760552034304,-1.5707963267948923,-0.41471399677482584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.899999999996627,"qpos":[-1.9855103235699296,-1.5821556794175469,1.3167354078298552,-1.3053760552091267,-1.5707963267948528,-0.4147139967749014,0.0029336111691551994,0.00015630154724361224,0.0031934794810907956,-0.003429298940685935,0.002933611076289896,0.00015630111776997023,0.0031978493783440137,-0.0034379968911513936,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,2.64123608143198e-17,9.38516321796001e-17,-2.330030043691295e-07],"qvel":[-1.4916837417626185e-12,1.0853420985634211e-11,-3.140824050063496e-11,2.6321973557404284e-11,-3.9276370910572696e-12,3.8246313285248927e-13,-1.329474029295089e-09,-7.0210912539530504e-09,6.8985958802810826e-09,4.1208981403244707e-10,1.2813328227728282e-09,4.4578856691526955e-09,-4.0606996313735785e-09,-4.2163813281007476e-10,-1.1322112058448155e-16,3.266666785334311e-17,6.7093773486563765e-15,-1.1427599076351667e-15,-3.605711704095965e-15,-8.447558701198276e-09],"joint_position_rad":[-1.9855103235699296,-1.5821556794175469,1.3167354078298552,-1.3053760552091267,-1.5707963267948528,-0.4147139967749014],"joint_velocity_rad_s":[-1.4916837417626185e-12,1.0853420985634211e-11,-3.140824050063496e-11,2.6321973557404284e-11,-3.9276370910572696e-12,3.8246313285248927e-13],"linkage_position_rad":[0.0029336111691551994,0.00015630154724361224,0.0031934794810907956,-0.003429298940685935,0.002933611076289896,0.00015630111776997023,0.0031978493783440137,-0.0034379968911513936],"tcp_position_m":[0.06812348610732945,0.48730461895023996,0.43499999999873107],"tcp_quaternion_wxyz":[-3.6860148433563305e-13,0.7071067811865939,0.7071067811865006,8.877558156112079e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,2.64123608143198e-17,9.38516321796001e-17,-2.330030043691295e-07],"object_linear_velocity_m_s":[-1.1322112058448155e-16,3.266666785334311e-17,6.7093773486563765e-15],"object_angular_velocity_rad_s":[-1.142761589503998e-15,-3.605711171116353e-15,-8.447558701198286e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221244092,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697218,-1.5920596013542838,1.3065911152737832,-1.31020274888974,-1.5707950793627194,-0.41471399677482584,0.0],"actuator_force":[1.0122676030732691e-09,-19.80784387781523,-20.28858509958036,-2.4133468429389495,0.0006237164594722344,-4.831690603168681e-13,-0.29336111203154874],"issued_joint_targets_rad":[-1.9855103235697211,-1.5821556794153762,1.3167354078238713,-1.3053760552034244,-1.5707963267948928,-0.4147139967748254],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.899999999996627,"joint_targets_rad":[-1.9855103235697211,-1.5821556794153762,1.3167354078238713,-1.3053760552034244,-1.5707963267948928,-0.4147139967748254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.919999999996616,"qpos":[-1.985510323569901,-1.5821556794173397,1.316735407829284,-1.3053760552085665,-1.5707963267948237,-0.414713996774894,0.002933611172259221,0.00015630156674100877,0.003193479463341576,-0.0034292989431004926,0.00293361107413199,0.00015630110516097527,0.003197849389982942,-0.0034379968898491345,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,3.7540959964233005e-17,9.339801993747725e-17,-2.334830821065105e-07],"qvel":[2.77653592580963e-12,9.90752567820752e-12,-2.6617996436247592e-11,2.8022414515970552e-11,3.5816436969629343e-12,3.4727058361744567e-13,1.0559626879641711e-09,5.160471033052208e-09,-5.0711584128422474e-09,-3.5157948674717877e-10,-9.728056935711977e-10,-3.31800357537737e-09,3.111796581467666e-09,3.148970724580868e-10,-1.1717247233122988e-16,4.725623839039915e-17,6.787092960380139e-15,-8.264619909755359e-16,-3.474531253678121e-15,-1.542310891413062e-08],"joint_position_rad":[-1.985510323569901,-1.5821556794173397,1.316735407829284,-1.3053760552085665,-1.5707963267948237,-0.414713996774894],"joint_velocity_rad_s":[2.77653592580963e-12,9.90752567820752e-12,-2.6617996436247592e-11,2.8022414515970552e-11,3.5816436969629343e-12,3.4727058361744567e-13],"linkage_position_rad":[0.002933611172259221,0.00015630156674100877,0.003193479463341576,-0.0034292989431004926,0.00293361107413199,0.00015630110516097527,0.003197849389982942,-0.0034379968898491345],"tcp_position_m":[0.06812348610730895,0.48730461895024524,0.4349999999988501],"tcp_quaternion_wxyz":[-3.4656663255388164e-13,0.7071067811865861,0.7071067811865082,7.908547137118703e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,3.7540959964233005e-17,9.339801993747725e-17,-2.334830821065105e-07],"object_linear_velocity_m_s":[-1.1717247233122988e-16,4.725623839039915e-17,6.787092960380139e-15],"object_angular_velocity_rad_s":[-8.264636163449542e-16,-3.4745308665899633e-15,-1.542310891413064e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221296432,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697211,-1.5920596013542838,1.3065911152737784,-1.3102027488897336,-1.57079507936272,-0.4147139967748254,0.0],"actuator_force":[-7.507878763135523e-10,-19.807843877851155,-20.2885851003648,-2.4133468433858525,0.0006237156937913824,-4.263256414560601e-13,-0.29336111273534554],"issued_joint_targets_rad":[-1.9855103235697211,-1.5821556794153728,1.3167354078238662,-1.3053760552034195,-1.5707963267948934,-0.4147139967748252],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.919999999996616,"joint_targets_rad":[-1.9855103235697211,-1.5821556794153728,1.3167354078238662,-1.3053760552034195,-1.5707963267948934,-0.4147139967748252],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.939999999996605,"qpos":[-1.985510323569889,-1.5821556794171523,1.3167354078287623,-1.3053760552080806,-1.5707963267948415,-0.4147139967748874,0.002933611170454712,0.00015630155560339382,0.003193479473382268,-0.003429298941340224,0.0029336110756798153,0.0001563011124395519,0.003197849383638565,-0.003437996890988177,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,4.249376182777623e-17,7.171138832780961e-17,-2.3396285148780345e-07],"qvel":[3.117926696205088e-12,8.952976190933614e-12,-2.3960342751033164e-11,2.7168949683688854e-11,7.856264008384614e-12,3.211743045690506e-13,5.899025662309406e-10,3.839690873373453e-09,-3.5517725585003144e-09,-4.573605884235747e-10,-3.9059034862005863e-10,-2.488288036331874e-09,2.365369564933699e-09,2.140396310178254e-10,-9.563401878335706e-17,5.3385164286341475e-17,6.943911962608443e-15,-6.503969863326057e-16,-2.724575237690558e-15,-2.8158702057125816e-08],"joint_position_rad":[-1.985510323569889,-1.5821556794171523,1.3167354078287623,-1.3053760552080806,-1.5707963267948415,-0.4147139967748874],"joint_velocity_rad_s":[3.117926696205088e-12,8.952976190933614e-12,-2.3960342751033164e-11,2.7168949683688854e-11,7.856264008384614e-12,3.211743045690506e-13],"linkage_position_rad":[0.002933611170454712,0.00015630155560339382,0.003193479473382268,-0.003429298941340224,0.0029336110756798153,0.0001563011124395519,0.003197849383638565,-0.003437996890988177],"tcp_position_m":[0.06812348610731021,0.4873046189502503,0.43499999999896233],"tcp_quaternion_wxyz":[-3.107314758031809e-13,0.7071067811865848,0.7071067811865099,7.234734932858618e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,4.249376182777623e-17,7.171138832780961e-17,-2.3396285148780345e-07],"object_linear_velocity_m_s":[-9.563401878335706e-17,5.3385164286341475e-17,6.943911962608443e-15],"object_angular_velocity_rad_s":[-6.503982652699174e-16,-2.724574930959657e-15,-2.815870205712586e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221264953,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697211,-1.5920596013542834,1.3065911152737744,-1.310202748889728,-1.5707950793627203,-0.4147139967748252,0.0],"actuator_force":[-9.117684385273606e-10,-19.807843877843425,-20.28858510039163,-2.4133468435405803,0.0006237152749690722,-1.0231815394945443e-12,-0.2933611133032875],"issued_joint_targets_rad":[-1.9855103235697205,-1.58215567941537,1.3167354078238624,-1.3053760552034155,-1.5707963267948937,-0.41471399677482457],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.939999999996605,"joint_targets_rad":[-1.9855103235697205,-1.58215567941537,1.3167354078238624,-1.3053760552034155,-1.5707963267948937,-0.41471399677482457],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.959999999996594,"qpos":[-1.985510323569878,-1.5821556794169824,1.3167354078282898,-1.3053760552076434,-1.5707963267948661,-0.4147139967748814,0.0029336111686029884,0.000156301545308971,0.003193479483323896,-0.003429298940849322,0.0029336110770585232,0.00015630111897439443,0.003197849377328462,-0.0034379968912809315,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,2.7851094801783073e-17,5.902346013763402e-17,-2.3436440520099836e-07],"qvel":[1.1378648550809827e-12,8.072608599359124e-12,-2.25566663764546e-11,2.3773910022037343e-11,6.913157033173194e-12,2.9734349680523246e-13,-4.126981047087042e-10,-1.4111271682157622e-09,1.6387302249430402e-09,-1.1001333766304485e-10,6.329350771499265e-10,8.524364193063026e-10,-6.462842730282756e-10,-1.4572205400042985e-10,-9.659727443254693e-17,3.2462048635964686e-17,7.188161028025977e-15,-1.7278315723795723e-15,-2.319750306662404e-16,-5.1410678998569e-08],"joint_position_rad":[-1.985510323569878,-1.5821556794169824,1.3167354078282898,-1.3053760552076434,-1.5707963267948661,-0.4147139967748814],"joint_velocity_rad_s":[1.1378648550809827e-12,8.072608599359124e-12,-2.25566663764546e-11,2.3773910022037343e-11,6.913157033173194e-12,2.9734349680523246e-13],"linkage_position_rad":[0.0029336111686029884,0.000156301545308971,0.003193479483323896,-0.003429298940849322,0.0029336110770585232,0.00015630111897439443,0.003197849377328462,-0.0034379968912809315],"tcp_position_m":[0.06812348610731324,0.4873046189502547,0.4349999999990643],"tcp_quaternion_wxyz":[-2.7499401022595147e-13,0.7071067811865829,0.707106781186512,6.654463003887932e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,2.7851094801783073e-17,5.902346013763402e-17,-2.3436440520099836e-07],"object_linear_velocity_m_s":[-9.659727443254693e-17,3.2462048635964686e-17,7.188161028025977e-15],"object_angular_velocity_rad_s":[-1.7278316871816372e-15,-2.31974217918089e-16,-5.141067899856908e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221235475,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697205,-1.5920596013542834,1.3065911152737715,-1.3102027488897234,-1.5707950793627206,-0.41471399677482457,0.0],"actuator_force":[-1.3960743672214448e-10,-19.807843877831147,-20.288585100013734,-2.4133468434173437,0.0006237153814936391,-1.3073986337985843e-12,-0.29336111338426046],"issued_joint_targets_rad":[-1.9855103235697202,-1.5821556794153675,1.3167354078238571,-1.3053760552034104,-1.5707963267948941,-0.41471399677482434],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.959999999996594,"joint_targets_rad":[-1.9855103235697202,-1.5821556794153675,1.3167354078238571,-1.3053760552034104,-1.5707963267948941,-0.41471399677482434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.979999999996583,"qpos":[-1.9855103235698528,-1.582155679416828,1.3167354078278684,-1.3053760552072244,-1.5707963267948402,-0.4147139967748759,0.002933611173297227,0.00015630157154643607,0.003193479458613351,-0.0034292989434605804,0.0029336110731426122,0.00015630110207355923,0.003197849392846563,-0.0034379968895029444,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,1.4668669300176924e-17,5.0128337405426336e-17,-2.3470803342990612e-07],"qvel":[2.181011643844891e-12,7.383008563330535e-12,-1.9653490576993096e-11,2.0642703267328636e-11,2.0595829226760357e-12,2.59644738652993e-13,1.152222548224682e-09,5.18452835582017e-09,-5.174776099730796e-09,-2.8072448920508484e-10,-1.1071729964993217e-09,-3.3350238631744724e-09,3.1308670713851424e-09,3.1927098671896974e-10,-1.129061552533455e-16,2.025078009574814e-17,5.8100966987100035e-15,-9.554370250726351e-16,2.841562093050134e-15,-9.386291703807961e-08],"joint_position_rad":[-1.9855103235698528,-1.582155679416828,1.3167354078278684,-1.3053760552072244,-1.5707963267948402,-0.4147139967748759],"joint_velocity_rad_s":[2.181011643844891e-12,7.383008563330535e-12,-1.9653490576993096e-11,2.0642703267328636e-11,2.0595829226760357e-12,2.59644738652993e-13],"linkage_position_rad":[0.002933611173297227,0.00015630157154643607,0.003193479458613351,-0.0034292989434605804,0.0029336110731426122,0.00015630110207355923,0.003197849392846563,-0.0034379968895029444],"tcp_position_m":[0.06812348610729466,0.4873046189502582,0.43499999999915084],"tcp_quaternion_wxyz":[-2.5942760235948667e-13,0.707106781186576,0.7071067811865187,5.898958475847403e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,1.4668669300176924e-17,5.0128337405426336e-17,-2.3470803342990612e-07],"object_linear_velocity_m_s":[-1.129061552533455e-16,2.025078009574814e-17,5.8100966987100035e-15],"object_angular_velocity_rad_s":[-9.554357006080133e-16,2.841562544301007e-15,-9.386291703807978e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221311259,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697202,-1.5920596013542834,1.3065911152737668,-1.310202748889718,-1.5707950793627214,-0.41471399677482434,0.0],"actuator_force":[-6.070877134334296e-10,-19.807843877863434,-20.28858510034206,-2.4133468433111602,0.0006237158532940157,-1.9895196601282805e-13,-0.29336111254723973],"issued_joint_targets_rad":[-1.9855103235697198,-1.5821556794153657,1.3167354078238542,-1.3053760552034068,-1.5707963267948943,-0.41471399677482396],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.979999999996583,"joint_targets_rad":[-1.9855103235697198,-1.5821556794153657,1.3167354078238542,-1.3053760552034068,-1.5707963267948943,-0.41471399677482396],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.999999999996572,"qpos":[-1.9855103235698448,-1.582155679416689,1.3167354078274813,-1.305376055206864,-1.5707963267948528,-0.41471399677487086,0.0029336111711803516,0.00015630155999146213,0.003193479469313549,-0.0034292989418910663,0.002933611075099587,0.00015630110960528982,0.003197849386250191,-0.003437996890661346,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999734,7.771313963990902e-18,4.4765534846975857e-17,-2.3506407783236504e-07],"qvel":[2.951782747829205e-12,6.676852322731177e-12,-1.7451015521673567e-11,2.052043122006788e-11,6.072612515226509e-12,2.4030780789590086e-13,8.531086914258499e-10,4.849019205443149e-09,-4.605381118145333e-09,-4.892471649030676e-10,-7.091625487725347e-10,-3.1296132915227674e-09,2.918276849255826e-09,3.1041678963158096e-10,-5.594544630115326e-17,1.0486663119470657e-17,5.396538622037133e-15,-4.277803254127621e-16,-1.604148229019269e-15,-1.0169278401932207e-08],"joint_position_rad":[-1.9855103235698448,-1.582155679416689,1.3167354078274813,-1.305376055206864,-1.5707963267948528,-0.41471399677487086],"joint_velocity_rad_s":[2.951782747829205e-12,6.676852322731177e-12,-1.7451015521673567e-11,2.052043122006788e-11,6.072612515226509e-12,2.4030780789590086e-13],"linkage_position_rad":[0.0029336111711803516,0.00015630155999146213,0.003193479469313549,-0.0034292989418910663,0.002933611075099587,0.00015630110960528982,0.003197849386250191,-0.003437996890661346],"tcp_position_m":[0.06812348610729548,0.4873046189502619,0.4349999999992341],"tcp_quaternion_wxyz":[-2.33203348229771e-13,0.7071067811865748,0.7071067811865199,5.39853687544269e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999734,7.771313963990902e-18,4.4765534846975857e-17,-2.3506407783236504e-07],"object_linear_velocity_m_s":[-5.594544630115326e-17,1.0486663119470657e-17,5.396538622037133e-15],"object_angular_velocity_rad_s":[-4.277810804784303e-16,-1.6041480277494619e-15,-1.0169278401932227e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221277293,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697198,-1.5920596013542838,1.3065911152737646,-1.310202748889714,-1.5707950793627214,-0.41471399677482396,0.0],"actuator_force":[-9.304130799137056e-10,-19.80784387786025,-20.28858510045302,-2.4133468434770293,0.0006237154583459414,-5.968558980384842e-13,-0.2933611130337277],"issued_joint_targets_rad":[-1.98551032356972,-1.5821556794153637,1.316735407823851,-1.305376055203404,-1.5707963267948943,-0.4147139967748236],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.999999999996572,"joint_targets_rad":[-1.98551032356972,-1.5821556794153637,1.316735407823851,-1.305376055203404,-1.5707963267948943,-0.4147139967748236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.019999999996596,"qpos":[-1.985510323569838,-1.5821556794165632,1.3167354078271303,-1.3053760552065412,-1.5707963267948726,-0.4147139967748665,0.00293361116866577,0.00015630154686023602,0.0031934794821906285,-0.0034292989413043967,0.002933611077255021,0.00015630111793071879,0.0031978493783585585,-0.0034379968911887404,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,1.1011835480882032e-17,7.54078219616175e-17,-2.355197127708951e-07],"qvel":[2.476707469219124e-12,6.014210608635453e-12,-1.6055604477182132e-11,1.9835019014109304e-11,9.565049590686558e-12,2.2709440545538277e-13,2.0187962653578056e-10,2.08776727281885e-09,-1.7417742429540673e-09,-3.962768660533634e-10,5.960100153143028e-11,-1.3752097240206562e-09,1.376326199640547e-09,8.082468404026789e-11,-9.459392677668501e-17,1.3716068216431406e-17,5.9225067799533024e-15,-2.600368020924663e-16,-8.421218237315003e-16,-1.856653429929449e-08],"joint_position_rad":[-1.985510323569838,-1.5821556794165632,1.3167354078271303,-1.3053760552065412,-1.5707963267948726,-0.4147139967748665],"joint_velocity_rad_s":[2.476707469219124e-12,6.014210608635453e-12,-1.6055604477182132e-11,1.9835019014109304e-11,9.565049590686558e-12,2.2709440545538277e-13],"linkage_position_rad":[0.00293361116866577,0.00015630154686023602,0.0031934794821906285,-0.0034292989413043967,0.002933611077255021,0.00015630111793071879,0.0031978493783585585,-0.0034379968911887404],"tcp_position_m":[0.06812348610729886,0.48730461895026533,0.43499999999931005],"tcp_quaternion_wxyz":[-2.0653518224545615e-13,0.7071067811865738,0.7071067811865209,4.979094418454263e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,1.1011835480882032e-17,7.54078219616175e-17,-2.355197127708951e-07],"object_linear_velocity_m_s":[-9.459392677668501e-17,1.3716068216431406e-17,5.9225067799533024e-15],"object_angular_velocity_rad_s":[-2.600372015651412e-16,-8.42121700834917e-16,-1.856653429929449e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221237565,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.98551032356972,-1.5920596013542838,1.306591115273762,-1.3102027488897108,-1.5707950793627212,-0.4147139967748236,0.0],"actuator_force":[-7.548806024715304e-10,-19.807843877846608,-20.28858510031432,-2.41334684356832,0.0006237151191044177,-1.2789769243681803e-12,-0.2933611136034427],"issued_joint_targets_rad":[-1.9855103235697196,-1.5821556794153617,1.3167354078238471,-1.3053760552034002,-1.5707963267948946,-0.41471399677482357],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.019999999996596,"joint_targets_rad":[-1.9855103235697196,-1.5821556794153617,1.3167354078238471,-1.3053760552034002,-1.5707963267948946,-0.41471399677482357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.03999999999662,"qpos":[-1.985510323569823,-1.5821556794164489,1.316735407826817,-1.3053760552062401,-1.5707963267948764,-0.4147139967748622,0.0029336111715559084,0.0001563015622736192,0.0031934794674767205,-0.003429298942627498,0.0029336110743039528,0.00015630110816259492,0.0031978493867320292,-0.003437996889898754,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,3.389299407150182e-17,7.844605007807273e-17,-2.3596917200985542e-07],"qvel":[-4.349243544594972e-12,5.441746700021617e-12,-1.6359900241087004e-11,4.644429486357001e-12,-2.2856884014053143e-11,1.7264055183550542e-13,-1.6368761741117787e-09,-8.937166241080341e-09,8.44374218391893e-09,9.10335313607771e-10,1.0529637898612592e-09,5.880431444452142e-09,-5.875946911933934e-09,-4.181655331186806e-10,-1.0617839729860021e-16,5.053414310551161e-17,6.270839253929446e-15,1.4748471870105978e-15,-1.0609913445677282e-15,-3.3897802996662634e-08],"joint_position_rad":[-1.985510323569823,-1.5821556794164489,1.316735407826817,-1.3053760552062401,-1.5707963267948764,-0.4147139967748622],"joint_velocity_rad_s":[-4.349243544594972e-12,5.441746700021617e-12,-1.6359900241087004e-11,4.644429486357001e-12,-2.2856884014053143e-11,1.7264055183550542e-13],"linkage_position_rad":[0.0029336111715559084,0.0001563015622736192,0.0031934794674767205,-0.003429298942627498,0.0029336110743039528,0.00015630110816259492,0.0031978493867320292,-0.003437996889898754],"tcp_position_m":[0.0681234861072933,0.48730461895026767,0.43499999999937566],"tcp_quaternion_wxyz":[-1.8605762570641038e-13,0.7071067811865701,0.7071067811865246,4.5087923057416593e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,3.389299407150182e-17,7.844605007807273e-17,-2.3596917200985542e-07],"object_linear_velocity_m_s":[-1.0617839729860021e-16,5.053414310551161e-17,6.270839253929446e-15],"object_angular_velocity_rad_s":[1.4748466809696387e-15,-1.0609920383067518e-15,-3.389780299666264e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287939,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697196,-1.5920596013542838,1.3065911152737586,-1.310202748889707,-1.5707950793627221,-0.41471399677482357,0.0],"actuator_force":[1.946773409144953e-09,-19.807843877846608,-20.288585099573083,-2.413346842197825,0.0006237183628172716,2.0747847884194925e-12,-0.29336110937343113],"issued_joint_targets_rad":[-1.9855103235697193,-1.5821556794153595,1.3167354078238445,-1.3053760552033975,-1.5707963267948948,-0.41471399677482357],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.03999999999662,"joint_targets_rad":[-1.9855103235697193,-1.5821556794153595,1.3167354078238445,-1.3053760552033975,-1.5707963267948948,-0.41471399677482357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.059999999996645,"qpos":[-1.9855103235698102,-1.5821556794163452,1.3167354078265325,-1.3053760552059612,-1.5707963267948597,-0.41471399677485865,0.0029336111720835822,0.0001563015648302846,0.0031934794647276443,-0.003429298942419324,0.002933611074291534,0.00015630110647313784,0.003197849389105647,-0.0034379968902894047,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,3.427975942799839e-17,7.598742838683123e-17,-2.3633250542678497e-07],"qvel":[2.5349465595361293e-12,4.991547219357271e-12,-1.2756065096500522e-11,1.5261246135232572e-11,4.146465696033517e-12,1.778587329316648e-13,1.0274433907470137e-09,5.279699576316455e-09,-5.105769854833063e-09,-4.594994696844038e-10,-9.349306064739998e-10,-3.402476913599125e-09,3.15134121817291e-09,3.593969404945617e-10,-1.4599450253407947e-16,6.092049043427422e-17,6.3624326534610206e-15,-9.523016541497297e-17,2.821981050300787e-15,-6.188882801052175e-08],"joint_position_rad":[-1.9855103235698102,-1.5821556794163452,1.3167354078265325,-1.3053760552059612,-1.5707963267948597,-0.41471399677485865],"joint_velocity_rad_s":[2.5349465595361293e-12,4.991547219357271e-12,-1.2756065096500522e-11,1.5261246135232572e-11,4.146465696033517e-12,1.778587329316648e-13],"linkage_position_rad":[0.0029336111720835822,0.0001563015648302846,0.0031934794647276443,-0.003429298942419324,0.002933611074291534,0.00015630110647313784,0.003197849389105647,-0.0034379968902894047],"tcp_position_m":[0.06812348610728325,0.4873046189502706,0.4349999999994347],"tcp_quaternion_wxyz":[-1.7602948589566585e-13,0.7071067811865668,0.7071067811865279,4.020472266320231e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,3.427975942799839e-17,7.598742838683123e-17,-2.3633250542678497e-07],"object_linear_velocity_m_s":[-1.4599450253407947e-16,6.092049043427422e-17,6.3624326534610206e-15],"object_angular_velocity_rad_s":[-9.522884096880338e-17,2.8219810995555108e-15,-6.188882801052178e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221291556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697193,-1.5920596013542834,1.3065911152737566,-1.310202748889704,-1.5707950793627221,-0.41471399677482357,0.0],"actuator_force":[-8.321876521222293e-10,-19.807843877872983,-20.288585100449836,-2.4133468433974485,0.000623715654114676,-2.5579538487363607e-13,-0.29336111278131977],"issued_joint_targets_rad":[-1.9855103235697191,-1.582155679415358,1.3167354078238411,-1.3053760552033946,-1.570796326794895,-0.4147139967748233],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.059999999996645,"joint_targets_rad":[-1.9855103235697191,-1.582155679415358,1.3167354078238411,-1.3053760552033946,-1.570796326794895,-0.4147139967748233],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.07999999999667,"qpos":[-1.9855103235698057,-1.5821556794162512,1.316735407826272,-1.3053760552057216,-1.5707963267948737,-0.4147139967748554,0.002933611169141035,0.0001563015504604688,0.003193479479017056,-0.003429298941899506,0.0029336110769994676,0.00015630111559820738,0.003197849380528357,-0.0034379968909290176,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,2.6172911474382137e-17,7.000739664898647e-17,-2.3662040860502633e-07],"qvel":[2.941959899639851e-12,4.498041538355361e-12,-1.1408450192219775e-11,1.5763059103847803e-11,8.743654238825313e-12,1.6971594659302882e-13,6.227241210848775e-10,4.1533211839047625e-09,-3.802073174367118e-09,-5.295122110904059e-10,-4.0222326633972105e-10,-2.6826618981441923e-09,2.528223174369746e-09,2.4529471388749755e-10,-2.238504832032542e-16,8.24811441404163e-17,6.516476098127761e-15,2.7295926361183328e-15,9.151183175679612e-15,-1.1299337107165682e-07],"joint_position_rad":[-1.9855103235698057,-1.5821556794162512,1.316735407826272,-1.3053760552057216,-1.5707963267948737,-0.4147139967748554],"joint_velocity_rad_s":[2.941959899639851e-12,4.498041538355361e-12,-1.1408450192219775e-11,1.5763059103847803e-11,8.743654238825313e-12,1.6971594659302882e-13],"linkage_position_rad":[0.002933611169141035,0.0001563015504604688,0.003193479479017056,-0.003429298941899506,0.0029336110769994676,0.00015630111559820738,0.003197849380528357,-0.0034379968909290176],"tcp_position_m":[0.06812348610728612,0.48730461895027327,0.4349999999994908],"tcp_quaternion_wxyz":[-1.5643569734199299e-13,0.7071067811865664,0.7071067811865283,3.706244008452344e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,2.6172911474382137e-17,7.000739664898647e-17,-2.3662040860502633e-07],"object_linear_velocity_m_s":[-2.238504832032542e-16,8.24811441404163e-17,6.516476098127761e-15],"object_angular_velocity_rad_s":[2.729596951010691e-15,9.151181889838677e-15,-1.1299337107165688e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135132212467,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697191,-1.5920596013542831,1.3065911152737537,-1.3102027488897006,-1.570795079362722,-0.4147139967748233,0.0],"actuator_force":[-1.0036274034064263e-09,-19.807843877863434,-20.28858510047303,-2.413346843565705,0.000623715201527375,-9.094947017729282e-13,-0.29336111340952936],"issued_joint_targets_rad":[-1.9855103235697191,-1.582155679415357,1.3167354078238398,-1.3053760552033928,-1.570796326794895,-0.41471399677482296],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.07999999999667,"joint_targets_rad":[-1.9855103235697191,-1.582155679415357,1.3167354078238398,-1.3053760552033928,-1.570796326794895,-0.41471399677482296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.099999999996694,"qpos":[-1.9855103235697975,-1.5821556794161655,1.3167354078260392,-1.3053760552055031,-1.570796326794889,-0.4147139967748522,0.0029336111708055017,0.00015630155862572374,0.003193479471151613,-0.003429298942369708,0.0029336110750091218,0.00015630111052388718,0.0031978493844593624,-0.003437996890108051,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,2.6860677109965455e-17,8.002055562057971e-17,-2.370490193765061e-07],"qvel":[-1.3300812791691507e-12,4.058740823567566e-12,-1.1893818708128487e-11,8.847733023431706e-12,-3.13737279783077e-12,1.4749147057145388e-13,-6.262915697000624e-10,-3.2150927929831426e-09,3.1550462824121494e-09,3.3270094485454e-10,5.821106025984377e-10,2.0936901841591824e-09,-1.9850682401090216e-09,-2.327448307965555e-10,-9.743956581509403e-17,3.452390197328259e-17,6.61223283400168e-15,-1.0513575209828247e-15,-2.6251611560378112e-15,-1.2241906433978804e-08],"joint_position_rad":[-1.9855103235697975,-1.5821556794161655,1.3167354078260392,-1.3053760552055031,-1.570796326794889,-0.4147139967748522],"joint_velocity_rad_s":[-1.3300812791691507e-12,4.058740823567566e-12,-1.1893818708128487e-11,8.847733023431706e-12,-3.13737279783077e-12,1.4749147057145388e-13],"linkage_position_rad":[0.0029336111708055017,0.00015630155862572374,0.003193479471151613,-0.003429298942369708,0.0029336110750091218,0.00015630111052388718,0.0031978493844593624,-0.003437996890108051],"tcp_position_m":[0.06812348610728688,0.48730461895027494,0.43499999999953975],"tcp_quaternion_wxyz":[-1.3624990931828989e-13,0.7071067811865647,0.70710678118653,3.4010759302021266e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,2.6860677109965455e-17,8.002055562057971e-17,-2.370490193765061e-07],"object_linear_velocity_m_s":[-9.743956581509403e-17,3.452390197328259e-17,6.61223283400168e-15],"object_angular_velocity_rad_s":[-1.0513587675256711e-15,-2.625160656933327e-15,-1.2241906433978812e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276654,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697191,-1.5920596013542838,1.3065911152737528,-1.3102027488896988,-1.5707950793627223,-0.41471399677482296,0.0],"actuator_force":[6.889422365929931e-10,-19.807843877859796,-20.28858509981501,-2.4133468429826053,0.0006237163970581605,-1.1368683772161603e-13,-0.29336111206982635],"issued_joint_targets_rad":[-1.9855103235697191,-1.5821556794153557,1.3167354078238378,-1.3053760552033904,-1.5707963267948952,-0.4147139967748229],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.099999999996694,"joint_targets_rad":[-1.9855103235697191,-1.5821556794153557,1.3167354078238378,-1.3053760552033904,-1.5707963267948952,-0.4147139967748229],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.11999999999672,"qpos":[-1.985510323569784,-1.5821556794160883,1.3167354078258298,-1.3053760552052913,-1.5707963267948668,-0.4147139967748492,0.0029336111730995083,0.00015630156975868396,0.0031934794599679127,-0.0034292989428861293,0.0029336110733307126,0.00015630110328753845,0.003197849392019768,-0.0034379968898996635,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,2.6491468765782143e-17,8.98662069049277e-17,-2.375353092335384e-07],"qvel":[2.018505321594362e-12,3.724339853085075e-12,-9.36844155869659e-12,1.1181165562965291e-11,2.4711750889609766e-12,1.317996828527254e-13,1.1351156459733637e-09,5.3394871907885445e-09,-5.2462913528191396e-09,-3.894086517942926e-10,-1.0833366044928638e-09,-3.4404159410195908e-09,3.185634945632698e-09,3.7026982801136363e-10,-1.147360056132287e-16,3.510026849391946e-17,6.691336224506224e-15,-8.5586348560703185e-16,-2.0295097109472505e-15,-2.2350629682047162e-08],"joint_position_rad":[-1.985510323569784,-1.5821556794160883,1.3167354078258298,-1.3053760552052913,-1.5707963267948668,-0.4147139967748492],"joint_velocity_rad_s":[2.018505321594362e-12,3.724339853085075e-12,-9.36844155869659e-12,1.1181165562965291e-11,2.4711750889609766e-12,1.317996828527254e-13],"linkage_position_rad":[0.0029336111730995083,0.00015630156975868396,0.0031934794599679127,-0.0034292989428861293,0.0029336110733307126,0.00015630110328753845,0.003197849392019768,-0.0034379968898996635],"tcp_position_m":[0.06812348610727453,0.48730461895027705,0.4349999999995821],"tcp_quaternion_wxyz":[-1.3220341945725516e-13,0.7071067811865608,0.7071067811865337,2.98974706396782e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,2.6491468765782143e-17,8.98662069049277e-17,-2.375353092335384e-07],"object_linear_velocity_m_s":[-1.147360056132287e-16,3.510026849391946e-17,6.691336224506224e-15],"object_angular_velocity_rad_s":[-8.558644537845021e-16,-2.029509303167225e-15,-2.2350629682047182e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221306453,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697191,-1.5920596013542836,1.3065911152737513,-1.3102027488896961,-1.5707950793627226,-0.4147139967748229,0.0],"actuator_force":[-6.775735528208315e-10,-19.80784387788026,-20.288585100409364,-2.4133468433204825,0.0006237158249859931,-2.842170943040401e-14,-0.2933611125804062],"issued_joint_targets_rad":[-1.985510323569719,-1.5821556794153544,1.3167354078238354,-1.3053760552033882,-1.5707963267948952,-0.41471399677482274],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.11999999999672,"joint_targets_rad":[-1.985510323569719,-1.5821556794153544,1.3167354078238354,-1.3053760552033882,-1.5707963267948952,-0.41471399677482274],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.139999999996743,"qpos":[-1.9855103235697809,-1.5821556794160183,1.316735407825637,-1.3053760552051141,-1.5707963267948795,-0.414713996774847,0.0029336111729419386,0.00015630156859519945,0.003193479460834027,-0.0034292989421293813,0.0029336110732785694,0.00015630110418825066,0.0031978493909256213,-0.003437996890070798,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,3.956490946880037e-18,8.472075065600967e-17,-2.3795290304263123e-07],"qvel":[1.767815874876303e-12,3.34506466642022e-12,-8.62057912584668e-12,1.1018842946658462e-11,5.061820524380059e-12,1.2648083911124523e-13,6.907200772456106e-10,3.5805177376176928e-09,-3.519007535408383e-09,-1.9886665456858695e-10,-5.688986819365277e-10,-2.3230785730801297e-09,2.2495520795617768e-09,1.581166874347165e-10,-1.2436155519968412e-16,5.769429213246394e-19,6.7551740484221714e-15,-2.1892627489802887e-15,-5.827162053123336e-16,-4.080660556246888e-08],"joint_position_rad":[-1.9855103235697809,-1.5821556794160183,1.316735407825637,-1.3053760552051141,-1.5707963267948795,-0.414713996774847],"joint_velocity_rad_s":[1.767815874876303e-12,3.34506466642022e-12,-8.62057912584668e-12,1.1018842946658462e-11,5.061820524380059e-12,1.2648083911124523e-13],"linkage_position_rad":[0.0029336111729419386,0.00015630156859519945,0.003193479460834027,-0.0034292989421293813,0.0029336110732785694,0.00015630110418825066,0.0031978493909256213,-0.003437996890070798],"tcp_position_m":[0.06812348610727736,0.48730461895027893,0.4349999999996238],"tcp_quaternion_wxyz":[-1.1652240726759436e-13,0.7071067811865606,0.7071067811865341,2.760582183956829e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,3.956490946880037e-18,8.472075065600967e-17,-2.3795290304263123e-07],"object_linear_velocity_m_s":[-1.2436155519968412e-16,5.769429213246394e-19,6.7551740484221714e-15],"object_angular_velocity_rad_s":[-2.1892630332124012e-15,-5.827151631065115e-16,-4.0806605562468926e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221306206,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569719,-1.5920596013542836,1.306591115273749,-1.3102027488896937,-1.5707950793627228,-0.41471399677482274,0.0],"actuator_force":[-5.82986103836447e-10,-19.807843877868436,-20.288585100327964,-2.4133468433916505,0.000623715572146466,-5.400124791776761e-13,-0.29336111292013234],"issued_joint_targets_rad":[-1.9855103235697187,-1.5821556794153535,1.3167354078238336,-1.3053760552033866,-1.5707963267948957,-0.4147139967748222],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.139999999996743,"joint_targets_rad":[-1.9855103235697187,-1.5821556794153535,1.3167354078238336,-1.3053760552033866,-1.5707963267948957,-0.4147139967748222],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.159999999996767,"qpos":[-1.9855103235697789,-1.5821556794159544,1.3167354078254632,-1.3053760552049545,-1.5707963267948937,-0.4147139967748448,0.0029336111715320004,0.00015630156028126625,0.0031934794684796903,-0.0034292989412805096,0.0029336110743797676,0.00015630110958603176,0.0031978493860619008,-0.0034379968906675467,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,-1.1432679922381119e-17,6.757883172257893e-17,-2.3832921189421378e-07],"qvel":[5.467435295203787e-13,3.017311127598363e-12,-8.348044815747677e-12,9.4536907980987e-12,4.388993869593729e-12,1.203483724977143e-13,-3.979082549077463e-11,2.526485390276914e-10,-1.0330948196115649e-10,-8.00734037663635e-11,1.7534672753195768e-10,-1.7954015736662787e-10,2.187764710050556e-10,-2.1025914133979844e-11,-1.096333517366755e-16,-3.2730495561077264e-17,6.8398285540498415e-15,-2.5397934231971913e-15,-4.71053049907346e-16,-7.45025568057484e-08],"joint_position_rad":[-1.9855103235697789,-1.5821556794159544,1.3167354078254632,-1.3053760552049545,-1.5707963267948937,-0.4147139967748448],"joint_velocity_rad_s":[5.467435295203787e-13,3.017311127598363e-12,-8.348044815747677e-12,9.4536907980987e-12,4.388993869593729e-12,1.203483724977143e-13],"linkage_position_rad":[0.0029336111715320004,0.00015630156028126625,0.0031934794684796903,-0.0034292989412805096,0.0029336110743797676,0.00015630110958603176,0.0031978493860619008,-0.0034379968906675467],"tcp_position_m":[0.06812348610728093,0.4873046189502804,0.4349999999996603],"tcp_quaternion_wxyz":[-1.0079397425516094e-13,0.7071067811865607,0.7071067811865338,2.553334036040037e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,-1.1432679922381119e-17,6.757883172257893e-17,-2.3832921189421378e-07],"object_linear_velocity_m_s":[-1.096333517366755e-16,-3.2730495561077264e-17,6.8398285540498415e-15],"object_angular_velocity_rad_s":[-2.5397936577979022e-15,-4.7105184099688865e-16,-7.450255680574849e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283266,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697187,-1.5920596013542836,1.3065911152737477,-1.310202748889692,-1.570795079362723,-0.4147139967748222,0.0],"actuator_force":[-9.822542779147625e-11,-19.807843877865253,-20.28858510009195,-2.413346843314116,0.000623715646383971,-7.389644451905042e-13,-0.2933611129733679],"issued_joint_targets_rad":[-1.9855103235697182,-1.5821556794153528,1.3167354078238327,-1.3053760552033855,-1.5707963267948957,-0.4147139967748225],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.159999999996767,"joint_targets_rad":[-1.9855103235697182,-1.5821556794153528,1.3167354078238327,-1.3053760552033855,-1.5707963267948957,-0.4147139967748225],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.17999999999679,"qpos":[-1.9855103235697722,-1.5821556794158964,1.3167354078253075,-1.305376055204806,-1.5707963267948981,-0.41471399677484266,0.0029336111712860314,0.00015630155976494478,0.003193479469279579,-0.003429298941965795,0.002933611074511649,0.00015630110978768103,0.0031978493856817617,-0.0034379968903417253,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,-1.6928388815183366e-17,4.7536501453415124e-17,-2.386118178386765e-07],"qvel":[-4.8707696323413564e-12,2.7078006354970886e-12,-8.883398576981513e-12,-3.1347465033257275e-12,-2.425212935064836e-11,7.732282126606435e-14,-1.8466594335499852e-09,-9.927298650746597e-09,9.429044606755158e-09,8.637165165186246e-10,1.2153181421695308e-09,6.480840885804764e-09,-6.464743497447524e-09,-4.0049726824530244e-10,-6.113752741496113e-17,-1.7733375890307724e-17,6.957789750416266e-15,3.737898278072909e-16,-2.4175204253964935e-15,-8.071741915990746e-09],"joint_position_rad":[-1.9855103235697722,-1.5821556794158964,1.3167354078253075,-1.305376055204806,-1.5707963267948981,-0.41471399677484266],"joint_velocity_rad_s":[-4.8707696323413564e-12,2.7078006354970886e-12,-8.883398576981513e-12,-3.1347465033257275e-12,-2.425212935064836e-11,7.732282126606435e-14],"linkage_position_rad":[0.0029336111712860314,0.00015630155976494478,0.003193479469279579,-0.003429298941965795,0.002933611074511649,0.00015630110978768103,0.0031978493856817617,-0.0034379968903417253],"tcp_position_m":[0.06812348610727935,0.48730461895028193,0.43499999999969263],"tcp_quaternion_wxyz":[-8.956888413317651e-14,0.7071067811865591,0.7071067811865356,2.323795690266359e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,-1.6928388815183366e-17,4.7536501453415124e-17,-2.386118178386765e-07],"object_linear_velocity_m_s":[-6.113752741496113e-17,-1.7733375890307724e-17,6.957789750416266e-15],"object_angular_velocity_rad_s":[3.7378867334195726e-16,-2.4175206040508455e-15,-8.071741915990758e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281206,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697182,-1.592059601354284,1.306591115273747,-1.3102027488896906,-1.5707950793627232,-0.4147139967748225,0.0],"actuator_force":[2.0563675207085907e-09,-19.80784387785843,-20.28858509956717,-2.413346842128931,0.0006237185125428368,2.3305801732931286e-12,-0.2933611091331776],"issued_joint_targets_rad":[-1.9855103235697185,-1.5821556794153515,1.316735407823831,-1.305376055203384,-1.5707963267948957,-0.4147139967748221],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.17999999999679,"joint_targets_rad":[-1.9855103235697185,-1.5821556794153515,1.316735407823831,-1.305376055203384,-1.5707963267948957,-0.4147139967748221],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.199999999996816,"qpos":[-1.985510323569764,-1.5821556794158445,1.3167354078251667,-1.3053760552046636,-1.5707963267948812,-0.41471399677484055,0.0029336111737171566,0.00015630157241987576,0.0031934794570601627,-0.003429298942385604,0.0029336110725928727,0.00015630110166201845,0.003197849393344951,-0.0034379968898673305,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,-5.331401602140431e-17,4.144584736104378e-17,-2.390705377757398e-07],"qvel":[1.694354073655585e-12,2.4920857619022664e-12,-6.209576635135543e-12,8.360328402950976e-12,3.814089847744345e-12,9.530724900276319e-14,8.647731110665185e-10,4.139359079900176e-09,-4.132137652895055e-09,-1.97473657702037e-10,-7.793786479204477e-10,-2.679471549247822e-09,2.5734894310903797e-09,2.0519833578690633e-10,-5.4035333038183905e-17,-6.310424330584338e-17,6.233369226848351e-15,7.089599637260544e-16,-1.751583675255832e-15,-1.4736962369898485e-08],"joint_position_rad":[-1.985510323569764,-1.5821556794158445,1.3167354078251667,-1.3053760552046636,-1.5707963267948812,-0.41471399677484055],"joint_velocity_rad_s":[1.694354073655585e-12,2.4920857619022664e-12,-6.209576635135543e-12,8.360328402950976e-12,3.814089847744345e-12,9.530724900276319e-14],"linkage_position_rad":[0.0029336111737171566,0.00015630157241987576,0.0031934794570601627,-0.003429298942385604,0.0029336110725928727,0.00015630110166201845,0.003197849393344951,-0.0034379968898673305],"tcp_position_m":[0.06812348610727126,0.4873046189502835,0.43499999999972117],"tcp_quaternion_wxyz":[-8.769691307214377e-14,0.7071067811865569,0.7071067811865374,2.0466166938946987e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,-5.331401602140431e-17,4.144584736104378e-17,-2.390705377757398e-07],"object_linear_velocity_m_s":[-5.4035333038183905e-17,-6.310424330584338e-17,6.233369226848351e-15],"object_angular_velocity_rad_s":[7.089591250003e-16,-1.7515840158098872e-15,-1.4736962369898508e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221317123,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697185,-1.5920596013542834,1.3065911152737455,-1.310202748889689,-1.5707950793627232,-0.4147139967748221,0.0],"actuator_force":[-5.861693352926522e-10,-19.807843877874802,-20.288585100358432,-2.4133468433487906,0.000623715697543048,-3.126388037344441e-13,-0.2933611127424738],"issued_joint_targets_rad":[-1.9855103235697182,-1.5821556794153513,1.3167354078238298,-1.305376055203383,-1.570796326794896,-0.41471399677482185],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.199999999996816,"joint_targets_rad":[-1.9855103235697182,-1.5821556794153513,1.3167354078238298,-1.305376055203383,-1.570796326794896,-0.41471399677482185],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.21999999999684,"qpos":[-1.9855103235697626,-1.5821556794157978,1.3167354078250373,-1.305376055204546,-1.5707963267948928,-0.4147139967748385,0.0029336111718057645,0.0001563015623177768,0.003193479466692765,-0.00342929894158759,0.002933611074270115,0.00015630110821260936,0.0031978493873712046,-0.0034379968905489298,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,-6.047349368873145e-17,3.247585021047111e-17,-2.3952896307492607e-07],"qvel":[1.4624016536097753e-12,2.2441777011456174e-12,-5.77302432367513e-12,8.436474947924917e-12,6.166582780528545e-12,9.105574536995289e-14,3.900234872272479e-10,2.471401455328517e-09,-2.2924432584278622e-09,-2.420407987381724e-10,-2.2727689960311433e-10,-1.6111386543388738e-09,1.5605539384496877e-09,1.1503563528258447e-10,-4.069128939069359e-17,-8.171822703731869e-17,4.130884373964461e-15,1.0098201239680225e-15,-9.936681573307576e-16,-2.6905971740936347e-08],"joint_position_rad":[-1.9855103235697626,-1.5821556794157978,1.3167354078250373,-1.305376055204546,-1.5707963267948928,-0.4147139967748385],"joint_velocity_rad_s":[1.4624016536097753e-12,2.2441777011456174e-12,-5.77302432367513e-12,8.436474947924917e-12,6.166582780528545e-12,9.105574536995289e-14],"linkage_position_rad":[0.0029336111718057645,0.0001563015623177768,0.003193479466692765,-0.00342929894158759,0.002933611074270115,0.00015630110821260936,0.0031978493873712046,-0.0034379968905489298],"tcp_position_m":[0.06812348610727426,0.48730461895028476,0.43499999999974914],"tcp_quaternion_wxyz":[-7.603940504837704e-14,0.7071067811865572,0.7071067811865375,1.9017330905170698e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,-6.047349368873145e-17,3.247585021047111e-17,-2.3952896307492607e-07],"object_linear_velocity_m_s":[-4.069128939069359e-17,-8.171822703731869e-17,4.130884373964461e-15],"object_angular_velocity_rad_s":[1.0098196461957123e-15,-9.936686443471755e-16,-2.6905971740936393e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287717,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697182,-1.592059601354284,1.3065911152737446,-1.310202748889688,-1.5707950793627232,-0.41471399677482185,0.0],"actuator_force":[-4.956746124662459e-10,-19.807843877870255,-20.288585100276123,-2.4133468434146153,0.0006237154681230095,-7.673861546209082e-13,-0.2933611131175269],"issued_joint_targets_rad":[-1.9855103235697182,-1.5821556794153502,1.316735407823828,-1.3053760552033813,-1.5707963267948961,-0.41471399677482224],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.21999999999684,"joint_targets_rad":[-1.9855103235697182,-1.5821556794153502,1.316735407823828,-1.3053760552033813,-1.5707963267948961,-0.41471399677482224],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.239999999996865,"qpos":[-1.98551032356976,-1.5821556794157556,1.316735407824921,-1.3053760552044398,-1.5707963267949057,-0.414713996774837,0.0029336111704064433,0.00015630155560413054,0.0031934794735253512,-0.0034292989417932383,0.0029336110753469093,0.0001563011124328326,0.0031978493831217435,-0.0034379968905364406,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999722,-4.6809278925532e-17,2.3535827981008084e-17,-2.399688571466486e-07],"qvel":[-1.5657254794865316e-12,2.027534426627042e-12,-6.3348758479536975e-12,3.4913896551170252e-12,-3.1495944509625057e-12,7.388343611701363e-14,-7.578250135297058e-10,-3.711967384435723e-09,3.7165649798493788e-09,2.443455035335583e-10,7.138227384529784e-10,2.3875908874241737e-09,-2.2844699256821457e-09,-2.0461326050844156e-10,-2.950152088785363e-17,-6.670325121350579e-17,5.163391786865859e-15,1.346508089843122e-15,-8.960203809855847e-16,-4.9123509794846946e-08],"joint_position_rad":[-1.98551032356976,-1.5821556794157556,1.316735407824921,-1.3053760552044398,-1.5707963267949057,-0.414713996774837],"joint_velocity_rad_s":[-1.5657254794865316e-12,2.027534426627042e-12,-6.3348758479536975e-12,3.4913896551170252e-12,-3.1495944509625057e-12,7.388343611701363e-14],"linkage_position_rad":[0.0029336111704064433,0.00015630155560413054,0.0031934794735253512,-0.0034292989417932383,0.0029336110753469093,0.0001563011124328326,0.0031978493831217435,-0.0034379968905364406],"tcp_position_m":[0.06812348610727675,0.48730461895028526,0.4349999999997743],"tcp_quaternion_wxyz":[-6.415733786313793e-14,0.7071067811865567,0.7071067811865378,1.776421887317418e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999722,-4.6809278925532e-17,2.3535827981008084e-17,-2.399688571466486e-07],"object_linear_velocity_m_s":[-2.950152088785363e-17,-6.670325121350579e-17,5.163391786865859e-15],"object_angular_velocity_rad_s":[1.3465076574966701e-15,-8.960210318243697e-16,-4.9123509794847045e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221267916,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697182,-1.5920596013542836,1.306591115273743,-1.310202748889686,-1.5707950793627234,-0.41471399677482224,0.0],"actuator_force":[7.098606147337705e-10,-19.807843877866617,-20.28858509982183,-2.413346842972146,0.0006237164059257339,0.0,-0.29336111206765625],"issued_joint_targets_rad":[-1.9855103235697185,-1.5821556794153502,1.3167354078238276,-1.3053760552033802,-1.570796326794896,-0.4147139967748218],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.239999999996865,"joint_targets_rad":[-1.9855103235697185,-1.5821556794153502,1.3167354078238276,-1.3053760552033802,-1.570796326794896,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.25999999999689,"qpos":[-1.9855103235697502,-1.5821556794157172,1.3167354078248177,-1.3053760552043285,-1.5707963267948828,-0.41471399677483584,0.0029336111745897737,0.0001563015763984012,0.003193479453098445,-0.003429298942620783,0.0029336110717760057,0.00015630109906680732,0.0031978493958082273,-0.0034379968896274798,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,-2.2247885011953094e-17,1.4996505983185527e-17,-2.402971979699431e-07],"qvel":[1.436204280366664e-12,1.8619517199329868e-12,-4.5058622489705705e-12,6.166308103293644e-12,2.4828233543655435e-12,7.115173171878697e-14,9.748888881594195e-10,4.325181439152756e-09,-4.3828488084566744e-09,-1.563847163884891e-10,-9.233725408205636e-10,-2.798206133012672e-09,2.685804956960924e-09,2.2092806032168622e-10,-2.426999325414162e-17,5.5660036247536045e-18,5.971079037280659e-15,5.3254728927548344e-15,-1.7785694579919245e-16,-8.968712365419454e-08],"joint_position_rad":[-1.9855103235697502,-1.5821556794157172,1.3167354078248177,-1.3053760552043285,-1.5707963267948828,-0.41471399677483584],"joint_velocity_rad_s":[1.436204280366664e-12,1.8619517199329868e-12,-4.5058622489705705e-12,6.166308103293644e-12,2.4828233543655435e-12,7.115173171878697e-14],"linkage_position_rad":[0.0029336111745897737,0.0001563015763984012,0.003193479453098445,-0.003429298942620783,0.0029336110717760057,0.00015630109906680732,0.0031978493958082273,-0.0034379968896274798],"tcp_position_m":[0.0681234861072657,0.48730461895028643,0.4349999999997941],"tcp_quaternion_wxyz":[-6.638431159253497e-14,0.7071067811865536,0.7071067811865411,1.5179265287825556e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,-2.2247885011953094e-17,1.4996505983185527e-17,-2.402971979699431e-07],"object_linear_velocity_m_s":[-2.426999325414162e-17,5.5660036247536045e-18,5.971079037280659e-15],"object_angular_velocity_rad_s":[5.32547280458718e-15,-1.778595091822969e-16,-8.968712365419454e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322132899,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697185,-1.5920596013542843,1.3065911152737428,-1.3102027488896848,-1.5707950793627237,-0.4147139967748218,0.0],"actuator_force":[-5.106812750454992e-10,-19.807843877878895,-20.288585100347518,-2.4133468432946756,0.0006237158312387692,-8.526512829121202e-14,-0.2933611125758707],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153488,1.3167354078238263,-1.305376055203379,-1.5707963267948961,-0.41471399677482174],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.25999999999689,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153488,1.3167354078238263,-1.305376055203379,-1.5707963267948961,-0.41471399677482174],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.279999999996914,"qpos":[-1.9855103235697498,-1.5821556794156817,1.3167354078247213,-1.3053760552042417,-1.570796326794891,-0.4147139967748347,0.0029336111723711725,0.0001563015656354357,0.003193479463592731,-0.0034292989419607497,0.0029336110738420913,0.00015630110603850875,0.003197849389421474,-0.0034379968903252046,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,7.472929123604969e-19,1.0513415841537022e-17,-2.406374025934237e-07],"qvel":[1.77969756892605e-12,1.6840425534855293e-12,-3.971709119645066e-12,6.902973578222849e-12,5.5881443177024964e-12,7.004358968837741e-14,6.8026693306596e-10,3.736521606350357e-09,-3.5899504148698964e-09,-3.0193068604616154e-10,-5.443195107712197e-10,-2.422032594881188e-09,2.303022016144571e-09,2.0662537719118623e-10,-1.3163937698868843e-17,-3.694459667004622e-18,6.322187068818365e-15,7.423765549632701e-16,-4.977614329885015e-16,-9.716865385059749e-09],"joint_position_rad":[-1.9855103235697498,-1.5821556794156817,1.3167354078247213,-1.3053760552042417,-1.570796326794891,-0.4147139967748347],"joint_velocity_rad_s":[1.77969756892605e-12,1.6840425534855293e-12,-3.971709119645066e-12,6.902973578222849e-12,5.5881443177024964e-12,7.004358968837741e-14],"linkage_position_rad":[0.0029336111723711725,0.0001563015656354357,0.003193479463592731,-0.0034292989419607497,0.0029336110738420913,0.00015630110603850875,0.003197849389421474,-0.0034379968903252046],"tcp_position_m":[0.06812348610726841,0.4873046189502875,0.43499999999981487],"tcp_quaternion_wxyz":[-5.790709984886227e-14,0.707106781186554,0.7071067811865405,1.4141241416051174e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,7.472929123604969e-19,1.0513415841537022e-17,-2.406374025934237e-07],"object_linear_velocity_m_s":[-1.3163937698868843e-17,-3.694459667004622e-18,6.322187068818365e-15],"object_angular_velocity_rad_s":[7.423763151988327e-16,-4.97761790261053e-16,-9.71686538505975e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322129656,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542834,1.3065911152737417,-1.3102027488896835,-1.5707950793627234,-0.41471399677482174,0.0],"actuator_force":[-6.475602276623249e-10,-19.80784387787662,-20.288585100370256,-2.4133468434112046,0.0006237155249664283,-5.115907697472721e-13,-0.2933611129904003],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153486,1.3167354078238263,-1.305376055203379,-1.5707963267948963,-0.4147139967748218],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.279999999996914,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153486,1.3167354078238263,-1.305376055203379,-1.5707963267948963,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.29999999999694,"qpos":[-1.9855103235697498,-1.5821556794156502,1.3167354078246343,-1.305376055204165,-1.5707963267949048,-0.4147139967748336,0.002933611170223456,0.00015630155538207677,0.003193479474022784,-0.0034292989419599804,0.0029336110756783135,0.00015630111252780928,0.0031978493830338312,-0.0034379968905440842,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,2.2555544259295745e-17,4.331421271529301e-18,-2.4112794850847474e-07],"qvel":[4.438693551270437e-13,1.5090685124507829e-12,-4.19626290321199e-12,5.667028476236843e-12,4.852909660003687e-12,6.663705700556245e-14,-5.3884703027121824e-11,2.545738131026234e-10,-6.869436827207838e-11,-1.0188450250193476e-10,2.0436247397723663e-10,-1.8304155400804338e-10,2.148290640770385e-10,-1.7592942386436697e-11,-6.8397073310398624e-18,2.5405792821311073e-17,6.169531402932406e-15,1.5146342510172435e-16,-4.2522440564296722e-16,-1.77405423790017e-08],"joint_position_rad":[-1.9855103235697498,-1.5821556794156502,1.3167354078246343,-1.305376055204165,-1.5707963267949048,-0.4147139967748336],"joint_velocity_rad_s":[4.438693551270437e-13,1.5090685124507829e-12,-4.19626290321199e-12,5.667028476236843e-12,4.852909660003687e-12,6.663705700556245e-14],"linkage_position_rad":[0.002933611170223456,0.00015630155538207677,0.003193479474022784,-0.0034292989419599804,0.0029336110756783135,0.00015630111252780928,0.0031978493830338312,-0.0034379968905440842],"tcp_position_m":[0.06812348610727251,0.4873046189502883,0.43499999999983396],"tcp_quaternion_wxyz":[-4.770891195334576e-14,0.7071067811865542,0.7071067811865405,1.340473223928605e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,2.2555544259295745e-17,4.331421271529301e-18,-2.4112794850847474e-07],"object_linear_velocity_m_s":[-6.8397073310398624e-18,2.5405792821311073e-17,6.169531402932406e-15],"object_angular_velocity_rad_s":[1.5146321988104627e-16,-4.252244778867527e-16,-1.7740542379001705e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221265288,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737417,-1.3102027488896835,-1.5707950793627237,-0.4147139967748218,0.0],"actuator_force":[-1.1323209037072957e-10,-19.80784387787071,-20.288585100106502,-2.4133468433259395,0.0006237156052293358,-7.389644451905042e-13,-0.29336111304747736],"issued_joint_targets_rad":[-1.9855103235697185,-1.5821556794153484,1.316735407823825,-1.3053760552033775,-1.5707963267948961,-0.414713996774822],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.29999999999694,"joint_targets_rad":[-1.9855103235697185,-1.5821556794153484,1.316735407823825,-1.3053760552033775,-1.5707963267948961,-0.414713996774822],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.319999999996963,"qpos":[-1.9855103235697467,-1.5821556794156215,1.3167354078245566,-1.3053760552040923,-1.5707963267949117,-0.4147139967748325,0.002933611172481543,0.0001563015645429774,0.0031934794643304664,-0.003429298941558232,0.0029336110732293206,0.00015630110680445278,0.0031978493882692787,-0.0034379968901950293,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,2.5244950912388065e-17,3.609469805946651e-18,-2.4155741210937475e-07],"qvel":[-5.589508833673901e-12,1.3191909748299683e-12,-5.35678545998892e-12,-7.348626681141663e-12,-2.537550078359682e-11,2.885095364646626e-14,-2.009154441131631e-09,-1.153643821064693e-08,1.082142993625831e-08,1.1381007055921753e-09,1.350232629479457e-09,7.549968171124405e-09,-7.3261243000135125e-09,-5.854498162110723e-10,-8.380363021359874e-18,3.242045547541896e-17,6.072386888277704e-15,-2.1343025393572853e-16,-5.314757384428257e-18,-3.238975033914673e-08],"joint_position_rad":[-1.9855103235697467,-1.5821556794156215,1.3167354078245566,-1.3053760552040923,-1.5707963267949117,-0.4147139967748325],"joint_velocity_rad_s":[-5.589508833673901e-12,1.3191909748299683e-12,-5.35678545998892e-12,-7.348626681141663e-12,-2.537550078359682e-11,2.885095364646626e-14],"linkage_position_rad":[0.002933611172481543,0.0001563015645429774,0.0031934794643304664,-0.003429298941558232,0.0029336110732293206,0.00015630110680445278,0.0031978493882692787,-0.0034379968901950293],"tcp_position_m":[0.0681234861072729,0.48730461895028865,0.4349999999998502],"tcp_quaternion_wxyz":[-4.022324914385928e-14,0.7071067811865535,0.7071067811865408,1.240941971055191e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,2.5244950912388065e-17,3.609469805946651e-18,-2.4155741210937475e-07],"object_linear_velocity_m_s":[-8.380363021359874e-18,3.242045547541896e-17,6.072386888277704e-15],"object_angular_velocity_rad_s":[-2.1343025673716108e-16,-5.3146526377526554e-18,-3.238975033914675e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221297967,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697185,-1.592059601354284,1.3065911152737406,-1.310202748889682,-1.570795079362724,-0.414713996774822,0.0],"actuator_force":[2.2923813958186656e-09,-19.80784387785252,-20.28858509948941,-2.413346842059923,0.0006237186314592691,2.3305801732931286e-12,-0.2933611089909341],"issued_joint_targets_rad":[-1.985510323569718,-1.582155679415348,1.3167354078238247,-1.3053760552033773,-1.5707963267948963,-0.4147139967748215],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.319999999996963,"joint_targets_rad":[-1.985510323569718,-1.582155679415348,1.3167354078238247,-1.3053760552033773,-1.5707963267948963,-0.4147139967748215],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.339999999996987,"qpos":[-1.9855103235697398,-1.5821556794155949,1.3167354078244866,-1.3053760552040152,-1.5707963267948901,-0.41471399677483145,0.002933611173122808,0.0001563015695825546,0.0031934794598172086,-0.0034292989423303374,0.0029336110731887264,0.00015630110346839,0.003197849391803848,-0.003437996890054603,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,3.1781585577152196e-17,-5.988843465262696e-18,-2.4195875806222545e-07],"qvel":[1.734431535016058e-12,1.2598093340426715e-12,-2.7373979062630194e-12,5.326740392223374e-12,4.232283919095689e-12,5.259556664633475e-14,8.736626096833973e-10,4.3685318331905466e-09,-4.282819913668724e-09,-2.9684099707937424e-10,-7.777106012435705e-10,-2.825647945457173e-09,2.6697594638648514e-09,2.5763388700154827e-10,1.8683969840626483e-17,5.788420733871349e-17,5.987732382650036e-15,1.6964099747363614e-15,-1.588143616185493e-15,-5.9135504688624937e-08],"joint_position_rad":[-1.9855103235697398,-1.5821556794155949,1.3167354078244866,-1.3053760552040152,-1.5707963267948901,-0.41471399677483145],"joint_velocity_rad_s":[1.734431535016058e-12,1.2598093340426715e-12,-2.7373979062630194e-12,5.326740392223374e-12,4.232283919095689e-12,5.259556664633475e-14],"linkage_position_rad":[0.002933611173122808,0.0001563015695825546,0.0031934794598172086,-0.0034292989423303374,0.0029336110731887264,0.00015630110346839,0.003197849391803848,-0.003437996890054603],"tcp_position_m":[0.06812348610726386,0.48730461895028965,0.4349999999998635],"tcp_quaternion_wxyz":[-4.414696572748797e-14,0.7071067811865513,0.7071067811865427,1.045159393765671e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,3.1781585577152196e-17,-5.988843465262696e-18,-2.4195875806222545e-07],"object_linear_velocity_m_s":[1.8683969840626483e-17,5.788420733871349e-17,5.987732382650036e-15],"object_angular_velocity_rad_s":[1.6964092069139578e-15,-1.5881444333489697e-15,-5.913550468862499e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221307942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.592059601354284,1.3065911152737404,-1.3102027488896815,-1.570795079362724,-0.4147139967748215,0.0],"actuator_force":[-6.502887117676437e-10,-19.80784387788208,-20.28858510039754,-2.41334684336573,0.0006237156597990179,-2.8421709430404007e-13,-0.2933611127953368],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153473,1.3167354078238234,-1.3053760552033764,-1.5707963267948961,-0.4147139967748216],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.339999999996987,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153473,1.3167354078238234,-1.3053760552033764,-1.5707963267948961,-0.4147139967748216],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.35999999999701,"qpos":[-1.9855103235697409,-1.5821556794155722,1.3167354078244216,-1.3053760552039593,-1.5707963267949003,-0.4147139967748305,0.002933611170498383,0.0001563015575529325,0.003193479472141967,-0.0034292989423141246,0.002933611075583011,0.00015630111110778573,0.003197849384369189,-0.003437996890395499,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,3.038796941546422e-17,-1.203294171969991e-17,-2.4223385294274033e-07],"qvel":[1.4802338889065575e-12,1.1298166826704618e-12,-2.6542558311843905e-12,5.7611810905239366e-12,6.775702385694658e-12,5.209416797224564e-14,4.1604872702201704e-10,2.6818196504926663e-09,-2.466245429259012e-09,-2.7667687041119793e-10,-2.3570416725601566e-10,-1.7398477278426101e-09,1.6748721473056462e-09,1.296634539493319e-10,3.6891075808708064e-17,8.05745213744522e-17,5.891975646776116e-15,2.7255412872595456e-15,-2.6201607570444437e-15,-1.0796649798661378e-07],"joint_position_rad":[-1.9855103235697409,-1.5821556794155722,1.3167354078244216,-1.3053760552039593,-1.5707963267949003,-0.4147139967748305],"joint_velocity_rad_s":[1.4802338889065575e-12,1.1298166826704618e-12,-2.6542558311843905e-12,5.7611810905239366e-12,6.775702385694658e-12,5.209416797224564e-14],"linkage_position_rad":[0.002933611170498383,0.0001563015575529325,0.003193479472141967,-0.0034292989423141246,0.002933611075583011,0.00015630111110778573,0.003197849384369189,-0.003437996890395499],"tcp_position_m":[0.06812348610726758,0.4873046189502901,0.43499999999987804],"tcp_quaternion_wxyz":[-3.689010686322968e-14,0.7071067811865523,0.7071067811865421,1.0014430947223875e-13],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,3.038796941546422e-17,-1.203294171969991e-17,-2.4223385294274033e-07],"object_linear_velocity_m_s":[3.6891075808708064e-17,8.05745213744522e-17,5.891975646776116e-15],"object_angular_velocity_rad_s":[2.7255400204742676e-15,-2.6201620709191085e-15,-1.0796649798661387e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322127033,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737393,-1.3102027488896804,-1.5707950793627234,-0.4147139967748216,0.0],"actuator_force":[-5.456968210637569e-10,-19.807843877874802,-20.288585100302953,-2.4133468434366705,0.0006237154108248433,-7.673861546209082e-13,-0.29336111320579245],"issued_joint_targets_rad":[-1.985510323569718,-1.582155679415347,1.3167354078238231,-1.3053760552033762,-1.5707963267948961,-0.41471399677482124],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.35999999999701,"joint_targets_rad":[-1.985510323569718,-1.582155679415347,1.3167354078238231,-1.3053760552033762,-1.5707963267948961,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.379999999997036,"qpos":[-1.9855103235697422,-1.5821556794155505,1.3167354078243632,-1.305376055203911,-1.5707963267949168,-0.41471399677482956,0.002933611171462886,0.00015630155921818054,0.003193479469578999,-0.0034292989411792837,0.0029336110742017706,0.00015630111024063131,0.003197849385095358,-0.0034379968905322977,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,3.101684196453549e-17,-1.728012079015248e-17,-2.4264339558720817e-07],"qvel":[-1.955154398319034e-12,9.913752321761378e-13,-3.682953176378418e-12,7.177225813052694e-13,-3.097788573692066e-12,4.2858033209623163e-14,-8.976988561636913e-10,-4.896783434722005e-09,4.749189869300171e-09,4.5115185371860126e-10,8.546337222003745e-10,3.164459462356094e-09,-2.885402781199072e-09,-3.635641347697375e-10,1.8785534359916587e-17,3.6800306268782034e-17,5.714339962836092e-15,-9.267052933311017e-16,3.8218553933461596e-16,-1.1697285901119697e-08],"joint_position_rad":[-1.9855103235697422,-1.5821556794155505,1.3167354078243632,-1.305376055203911,-1.5707963267949168,-0.41471399677482956],"joint_velocity_rad_s":[-1.955154398319034e-12,9.913752321761378e-13,-3.682953176378418e-12,7.177225813052694e-13,-3.097788573692066e-12,4.2858033209623163e-14],"linkage_position_rad":[0.002933611171462886,0.00015630155921818054,0.003193479469578999,-0.0034292989411792837,0.0029336110742017706,0.00015630111024063131,0.003197849385095358,-0.0034379968905322977],"tcp_position_m":[0.06812348610727305,0.4873046189502908,0.4349999999998911],"tcp_quaternion_wxyz":[-2.7131467957453003e-14,0.707106781186553,0.7071067811865415,9.767336115371038e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,3.101684196453549e-17,-1.728012079015248e-17,-2.4264339558720817e-07],"object_linear_velocity_m_s":[1.8785534359916587e-17,3.6800306268782034e-17,5.714339962836092e-15],"object_angular_velocity_rad_s":[-9.267051074571383e-16,3.821859897780352e-16,-1.169728590111971e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281378,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.5920596013542838,1.306591115273739,-1.3102027488896804,-1.5707950793627237,-0.41471399677482124,0.0],"actuator_force":[8.308234100695699e-10,-19.807843877863434,-20.28858509977499,-2.4133468429563436,0.0006237164062667944,-1.1368683772161603e-13,-0.2933611120679072],"issued_joint_targets_rad":[-1.985510323569718,-1.582155679415347,1.3167354078238234,-1.305376055203376,-1.5707963267948966,-0.4147139967748218],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.379999999997036,"joint_targets_rad":[-1.985510323569718,-1.582155679415347,1.3167354078238234,-1.305376055203376,-1.5707963267948966,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.39999999999706,"qpos":[-1.985510323569732,-1.582155679415532,1.3167354078243132,-1.3053760552038485,-1.5707963267948883,-0.41471399677482856,0.002933611174007142,0.00015630157378709148,0.003193479455692504,-0.003429298942662897,0.0029336110723659227,0.00015630110074019632,0.0031978493943512934,-0.0034379968897542174,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,2.6425765773611965e-17,-1.4119672405507528e-17,-2.431080512778228e-07],"qvel":[1.491173072271717e-12,9.50408926124917e-13,-1.9167416285266893e-12,3.924952432281078e-12,2.7801562891721824e-12,3.474553081012851e-14,9.963916909099812e-10,4.586207636391737e-09,-4.570834708355675e-09,-2.492992725823414e-10,-9.375117031295096e-10,-2.9649072982157005e-09,2.799831871936618e-09,2.743285246177769e-10,1.582446955477785e-17,3.126808045100056e-17,5.656053254043269e-15,-7.983041137462511e-16,5.874798049620348e-16,-2.135629012286019e-08],"joint_position_rad":[-1.985510323569732,-1.582155679415532,1.3167354078243132,-1.3053760552038485,-1.5707963267948883,-0.41471399677482856],"joint_velocity_rad_s":[1.491173072271717e-12,9.50408926124917e-13,-1.9167416285266893e-12,3.924952432281078e-12,2.7801562891721824e-12,3.474553081012851e-14],"linkage_position_rad":[0.002933611174007142,0.00015630157378709148,0.003193479455692504,-0.003429298942662897,0.0029336110723659227,0.00015630110074019632,0.0031978493943512934,-0.0034379968897542174],"tcp_position_m":[0.0681234861072601,0.48730461895029165,0.4349999999999],"tcp_quaternion_wxyz":[-3.48141556640574e-14,0.7071067811865499,0.7071067811865448,7.798313082772594e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,2.6425765773611965e-17,-1.4119672405507528e-17,-2.431080512778228e-07],"object_linear_velocity_m_s":[1.582446955477785e-17,3.126808045100056e-17,5.656053254043269e-15],"object_angular_velocity_rad_s":[-7.983038275009288e-16,5.874801942389935e-16,-2.135629012286022e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221320567,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.592059601354284,1.3065911152737395,-1.3102027488896801,-1.5707950793627241,-0.4147139967748218,0.0],"actuator_force":[-5.684341886080801e-10,-19.807843877884352,-20.288585100380715,-2.413346843308318,0.000623715804067615,-8.526512829121202e-14,-0.29336111261305314],"issued_joint_targets_rad":[-1.985510323569718,-1.5821556794153464,1.3167354078238223,-1.3053760552033746,-1.5707963267948966,-0.4147139967748214],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.39999999999706,"joint_targets_rad":[-1.985510323569718,-1.5821556794153464,1.3167354078238223,-1.3053760552033746,-1.5707963267948966,-0.4147139967748214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.419999999997085,"qpos":[-1.9855103235697336,-1.5821556794155143,1.316735407824265,-1.3053760552038067,-1.570796326794896,-0.4147139967748276,0.0029336111711016364,0.0001563015611558225,0.0031934794687788226,-0.0034292989427354404,0.0029336110751308265,0.00015630110877747929,0.0031978493865358814,-0.0034379968901455033,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,1.6111893520936726e-17,-1.7619389437875804e-18,-2.4356278189573763e-07],"qvel":[1.8563786075394256e-12,8.554068208663162e-13,-1.6264171870290134e-12,4.980248953914755e-12,6.135306228526506e-12,3.654757786366839e-14,7.332137972977106e-10,4.066276688151494e-09,-3.888365138780064e-09,-3.4003749162354775e-10,-5.829374100648608e-10,-2.6231233280967046e-09,2.4831934860293494e-09,2.2909485819770018e-10,1.9718249450281145e-18,2.3143882995196712e-17,5.581113199881071e-15,-9.8921200657773e-16,1.23474146999471e-15,-3.8991192629403075e-08],"joint_position_rad":[-1.9855103235697336,-1.5821556794155143,1.316735407824265,-1.3053760552038067,-1.570796326794896,-0.4147139967748276],"joint_velocity_rad_s":[1.8563786075394256e-12,8.554068208663162e-13,-1.6264171870290134e-12,4.980248953914755e-12,6.135306228526506e-12,3.654757786366839e-14],"linkage_position_rad":[0.0029336111711016364,0.0001563015611558225,0.0031934794687788226,-0.0034292989427354404,0.0029336110751308265,0.00015630110877747929,0.0031978493865358814,-0.0034379968901455033],"tcp_position_m":[0.06812348610726325,0.4873046189502922,0.43499999999991046],"tcp_quaternion_wxyz":[-2.927623058987314e-14,0.7071067811865508,0.7071067811865439,7.422634644536738e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,1.6111893520936726e-17,-1.7619389437875804e-18,-2.4356278189573763e-07],"object_linear_velocity_m_s":[1.9718249450281145e-18,2.3143882995196712e-17,5.581113199881071e-15],"object_angular_velocity_rad_s":[-9.89211404966079e-16,1.2347419531214659e-15,-3.8991192629403134e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221280417,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.5920596013542838,1.3065911152737384,-1.3102027488896786,-1.570795079362724,-0.4147139967748214,0.0],"actuator_force":[-7.112248567864299e-10,-19.80784387788117,-20.288585100402543,-2.413346843433942,0.0006237154724431093,-5.684341886080801e-13,-0.2933611130630051],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.305376055203375,-1.5707963267948963,-0.4147139967748218],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.419999999997085,"joint_targets_rad":[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.305376055203375,-1.5707963267948963,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.43999999999711,"qpos":[-1.9855103235697364,-1.5821556794154976,1.3167354078242208,-1.3053760552037734,-1.5707963267949132,-0.4147139967748269,0.00293361117116118,0.00015630155816091107,0.003193479470781682,-0.0034292989411927274,0.0029336110746614745,0.00015630111091093887,0.0031978493845625155,-0.0034379968906636973,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,7.310078237862435e-18,2.5010792140232294e-17,-2.4392234943922626e-07],"qvel":[2.732642778840398e-13,7.369629811777479e-13,-2.195208164071155e-12,3.8236393294548265e-12,5.368201917281216e-12,3.4124301021939496e-14,-1.798519006392848e-10,-6.20375435501997e-10,6.994246758749627e-10,5.05909473630539e-11,3.40530410936656e-10,3.8294829039828456e-10,-2.1337121708211118e-10,-1.4915329944218787e-10,-9.262587320003016e-17,-4.343315063154233e-18,5.5089487032804354e-15,-1.0909537126055788e-15,7.021871584681255e-15,-7.118807123883467e-08],"joint_position_rad":[-1.9855103235697364,-1.5821556794154976,1.3167354078242208,-1.3053760552037734,-1.5707963267949132,-0.4147139967748269],"joint_velocity_rad_s":[2.732642778840398e-13,7.369629811777479e-13,-2.195208164071155e-12,3.8236393294548265e-12,5.368201917281216e-12,3.4124301021939496e-14],"linkage_position_rad":[0.00293361117116118,0.00015630155816091107,0.003193479470781682,-0.0034292989411927274,0.0029336110746614745,0.00015630111091093887,0.0031978493845625155,-0.0034379968906636973],"tcp_position_m":[0.06812348610726982,0.4873046189502926,0.43499999999992023],"tcp_quaternion_wxyz":[-2.0212022506180822e-14,0.7071067811865521,0.7071067811865426,7.472143509457542e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,7.310078237862435e-18,2.5010792140232294e-17,-2.4392234943922626e-07],"object_linear_velocity_m_s":[-9.262587320003016e-17,-4.343315063154233e-18,5.5089487032804354e-15],"object_angular_velocity_rad_s":[-1.0909502905835619e-15,7.0218721179371984e-15,-7.11880712388348e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276587,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737382,-1.310202748889679,-1.5707950793627237,-0.4147139967748218,0.0],"actuator_force":[-7.139533408917487e-11,-19.807843877866617,-20.288585100087403,-2.413346843335148,0.0006237155579356113,-8.526512829121202e-13,-0.2933611130945253],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153455,1.316735407823821,-1.3053760552033744,-1.5707963267948966,-0.41471399677482157],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.43999999999711,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153455,1.316735407823821,-1.3053760552033744,-1.5707963267948966,-0.41471399677482157],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.459999999997134,"qpos":[-1.9855103235697324,-1.5821556794154843,1.3167354078241826,-1.3053760552037375,-1.5707963267949177,-0.41471399677482634,0.002933611171675944,0.00015630156079757038,0.0031934794680210173,-0.0034292989415786457,0.002933611073979661,0.00015630110919338596,0.0031978493861107246,-0.0034379968903195494,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999711,1.940969552281627e-18,4.1825525227562845e-17,-2.4419238275042363e-07],"qvel":[-6.0911167662549215e-12,6.370776128695904e-13,-3.625738378345794e-12,-9.99819806408224e-12,-2.738259640488906e-11,-2.105090771550398e-15,-2.227253270007828e-09,-1.2663218299680962e-08,1.1918207485127946e-08,1.1539997047371294e-09,1.507107240017988e-09,8.239469712151901e-09,-7.999196534439685e-09,-5.90942443092144e-10,-4.6004600169620317e-17,2.1816817868247787e-18,5.374334161544634e-15,-1.881204885942041e-16,-9.768664707830873e-16,-7.712644547692931e-09],"joint_position_rad":[-1.9855103235697324,-1.5821556794154843,1.3167354078241826,-1.3053760552037375,-1.5707963267949177,-0.41471399677482634],"joint_velocity_rad_s":[-6.0911167662549215e-12,6.370776128695904e-13,-3.625738378345794e-12,-9.99819806408224e-12,-2.738259640488906e-11,-2.105090771550398e-15],"linkage_position_rad":[0.002933611171675944,0.00015630156079757038,0.0031934794680210173,-0.0034292989415786457,0.002933611073979661,0.00015630110919338596,0.0031978493861107246,-0.0034379968903195494],"tcp_position_m":[0.06812348610726905,0.4873046189502925,0.43499999999992855],"tcp_quaternion_wxyz":[-1.594947012556934e-14,0.7071067811865509,0.7071067811865438,7.006833186943751e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999711,1.940969552281627e-18,4.1825525227562845e-17,-2.4419238275042363e-07],"object_linear_velocity_m_s":[-4.6004600169620317e-17,2.1816817868247787e-18,5.374334161544634e-15],"object_angular_velocity_rad_s":[-1.8812096632605508e-16,-9.768663788778518e-16,-7.712644547692946e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221286339,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737373,-1.3102027488896784,-1.5707950793627243,-0.41471399677482157,0.0],"actuator_force":[2.466094883857295e-09,-19.807843877852974,-20.288585099440297,-2.413346841970565,0.0006237188348450218,2.5863755581667647e-12,-0.2933611086820501],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.3053760552033742,-1.5707963267948963,-0.41471399677482124],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.459999999997134,"joint_targets_rad":[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.3053760552033742,-1.5707963267948963,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.47999999999716,"qpos":[-1.9855103235697267,-1.582155679415471,1.316735407824149,-1.3053760552036933,-1.5707963267948934,-0.4147139967748258,0.0029336111719191066,0.00015630156547750948,0.0031934794646502214,-0.0034292989431419373,0.0029336110744210787,0.000156301105990025,0.003197849389123619,-0.0034379968898395914,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,-4.979149808161814e-18,7.509326482878384e-17,-2.4468539538476585e-07],"qvel":[1.8258639971221287e-12,6.49664798371517e-13,-9.820764955796282e-13,3.924508651676497e-12,4.647015302323676e-12,2.5396257284416343e-14,9.446788457875337e-10,4.7563884664220286e-09,-4.6465878980285055e-09,-3.3255411351545563e-10,-8.385398616611434e-10,-3.0626859154042643e-09,2.882271341667431e-09,2.838999495363174e-10,-8.729402948406937e-17,-3.2977431335580412e-18,5.7726266716289085e-15,-1.5243949967670183e-16,-1.4568309232370381e-15,-1.408134125876726e-08],"joint_position_rad":[-1.9855103235697267,-1.582155679415471,1.316735407824149,-1.3053760552036933,-1.5707963267948934,-0.4147139967748258],"joint_velocity_rad_s":[1.8258639971221287e-12,6.49664798371517e-13,-9.820764955796282e-13,3.924508651676497e-12,4.647015302323676e-12,2.5396257284416343e-14],"linkage_position_rad":[0.0029336111719191066,0.00015630156547750948,0.0031934794646502214,-0.0034292989431419373,0.0029336110744210787,0.000156301105990025,0.003197849389123619,-0.0034379968898395914],"tcp_position_m":[0.0681234861072594,0.48730461895029303,0.43499999999993394],"tcp_quaternion_wxyz":[-2.3086000668820462e-14,0.7071067811865489,0.7071067811865456,5.463071344003297e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,-4.979149808161814e-18,7.509326482878384e-17,-2.4468539538476585e-07],"object_linear_velocity_m_s":[-8.729402948406937e-17,-3.2977431335580412e-18,5.7726266716289085e-15],"object_angular_velocity_rad_s":[-1.524402147220123e-16,-1.4568308487776509e-15,-1.4081341258767258e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221292984,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.592059601354284,1.3065911152737382,-1.310202748889678,-1.5707950793627237,-0.41471399677482124,0.0],"actuator_force":[-7.121343514882028e-10,-19.807843877885716,-20.288585100429373,-2.4133468433847156,0.0006237156201223115,-2.5579538487363607e-13,-0.2933611128477042],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153455,1.3167354078238205,-1.3053760552033733,-1.5707963267948963,-0.4147139967748211],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.47999999999716,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153455,1.3167354078238205,-1.3053760552033733,-1.5707963267948963,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.499999999997183,"qpos":[-1.98551032356973,-1.5821556794154585,1.3167354078241156,-1.3053760552036697,-1.5707963267949083,-0.4147139967748254,0.0029336111713368215,0.0001563015597348141,0.003193479469418235,-0.0034292989414272863,0.002933611074675959,0.00015630110987157765,0.003197849385628297,-0.0034379968906190265,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,-1.1057030265588452e-17,8.291762740219338e-17,-2.451234261619008e-07],"qvel":[1.4448251506935431e-12,5.517086553124261e-13,-1.133575744493415e-12,4.524325233675505e-12,7.415408491319424e-12,2.9975560249822505e-14,3.002868206250535e-10,2.028244833414703e-09,-1.8852971825594237e-09,-1.6911117711933055e-10,-1.0811058305708778e-10,-1.3251155544970994e-09,1.3650008868933948e-09,2.4412678534082127e-11,-1.0760395879463099e-16,-1.431890509829741e-17,6.2250425541636586e-15,-6.52112591865669e-17,-1.481239664192948e-15,-2.570897315696773e-08],"joint_position_rad":[-1.98551032356973,-1.5821556794154585,1.3167354078241156,-1.3053760552036697,-1.5707963267949083,-0.4147139967748254],"joint_velocity_rad_s":[1.4448251506935431e-12,5.517086553124261e-13,-1.133575744493415e-12,4.524325233675505e-12,7.415408491319424e-12,2.9975560249822505e-14],"linkage_position_rad":[0.0029336111713368215,0.0001563015597348141,0.003193479469418235,-0.0034292989414272863,0.002933611074675959,0.00015630110987157765,0.003197849385628297,-0.0034379968906190265],"tcp_position_m":[0.06812348610726542,0.48730461895029326,0.43499999999994166],"tcp_quaternion_wxyz":[-1.5442252566580618e-14,0.70710678118655,0.707106781186544,5.6150143722294864e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,-1.1057030265588452e-17,8.291762740219338e-17,-2.451234261619008e-07],"object_linear_velocity_m_s":[-1.0760395879463099e-16,-1.431890509829741e-17,6.2250425541636586e-15],"object_angular_velocity_rad_s":[-6.521198962309624e-17,-1.4812396327916843e-15,-2.5708973156967735e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221279601,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.306591115273737,-1.310202748889677,-1.5707950793627237,-0.4147139967748211,0.0],"actuator_force":[-5.534275260288268e-10,-19.807843877871164,-20.288585100303408,-2.413346843456111,0.0006237153506845061,-8.526512829121202e-13,-0.29336111326152026],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.499999999997183,"joint_targets_rad":[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.519999999997207,"qpos":[-1.985510323569731,-1.5821556794154483,1.316735407824086,-1.305376055203648,-1.5707963267949236,-0.4147139967748253,0.002933611170541884,0.0001563015549541558,0.0031934794738151676,-0.0034292989412360577,0.0029336110750661213,0.00015630111293683362,0.003197849382631328,-0.0034379968906569913,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,-2.3719704949116587e-17,9.204691205644855e-17,-2.4554375013275437e-07],"qvel":[-2.1451203759930997e-12,4.819648650470477e-13,-2.364992927460418e-12,-7.204458519523629e-13,-3.262071344482438e-12,1.850845984403748e-14,-1.0169133737984703e-09,-5.421677602560573e-09,5.3088980425481296e-09,4.116872634828913e-10,9.721772616306468e-10,3.4780347862436193e-09,-3.193959340371762e-09,-3.580292192867979e-10,-1.4799247521507283e-16,-4.014027880752201e-17,6.355493759557113e-15,-1.6816879538417732e-15,1.5293998438984484e-15,-4.693809266032191e-08],"joint_position_rad":[-1.985510323569731,-1.5821556794154483,1.316735407824086,-1.305376055203648,-1.5707963267949236,-0.4147139967748253],"joint_velocity_rad_s":[-2.1451203759930997e-12,4.819648650470477e-13,-2.364992927460418e-12,-7.204458519523629e-13,-3.262071344482438e-12,1.850845984403748e-14],"linkage_position_rad":[0.002933611170541884,0.0001563015549541558,0.0031934794738151676,-0.0034292989412360577,0.0029336110750661213,0.00015630111293683362,0.003197849382631328,-0.0034379968906569913],"tcp_position_m":[0.06812348610727052,0.48730461895029376,0.4349999999999492],"tcp_quaternion_wxyz":[-7.944125431638253e-15,0.7071067811865508,0.7071067811865439,5.803307760616602e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,-2.3719704949116587e-17,9.204691205644855e-17,-2.4554375013275437e-07],"object_linear_velocity_m_s":[-1.4799247521507283e-16,-4.014027880752201e-17,6.355493759557113e-15],"object_angular_velocity_rad_s":[-1.6816872114134384e-15,1.5294006675274847e-15,-4.693809266032193e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221267977,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737366,-1.3102027488896768,-1.570795079362724,-0.4147139967748217,0.0],"actuator_force":[8.844835974741727e-10,-19.807843877863434,-20.28858509975271,-2.41334684294236,0.0006237164260483041,-5.684341886080802e-14,-0.2933611120567197],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.3053760552033733,-1.5707963267948966,-0.41471399677482146],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.519999999997207,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.3053760552033733,-1.5707963267948966,-0.41471399677482146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.53999999999723,"qpos":[-1.9855103235697218,-1.5821556794154394,1.3167354078240632,-1.3053760552036084,-1.5707963267948921,-0.4147139967748252,0.0029336111728842577,0.000156301570087955,0.003193479460143167,-0.0034292989435009548,0.0029336110735235232,0.00015630110301547283,0.0031978493918899307,-0.003437996889513226,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,-1.7025829319944724e-17,8.407878709761323e-17,-2.458574836597834e-07],"qvel":[1.5768357933587954e-12,5.012029516038308e-13,-6.105390496248315e-13,2.880768769448221e-12,3.0656173233017207e-12,1.91465386437403e-14,1.0785033015345813e-09,4.992176213702982e-09,-4.96170517053608e-09,-2.7905234123909734e-10,-1.0132429018382247e-09,-3.2129515897866226e-09,3.0234177447446507e-09,3.018682665808561e-10,-1.8608817980285236e-16,1.6277410272893547e-17,6.520639434470105e-15,4.1063614077478215e-15,4.546601547313132e-15,-8.569710385309023e-08],"joint_position_rad":[-1.9855103235697218,-1.5821556794154394,1.3167354078240632,-1.3053760552036084,-1.5707963267948921,-0.4147139967748252],"joint_velocity_rad_s":[1.5768357933587954e-12,5.012029516038308e-13,-6.105390496248315e-13,2.880768769448221e-12,3.0656173233017207e-12,1.91465386437403e-14],"linkage_position_rad":[0.0029336111728842577,0.000156301570087955,0.003193479460143167,-0.0034292989435009548,0.0029336110735235232,0.00015630110301547283,0.0031978493918899307,-0.003437996889513226],"tcp_position_m":[0.0681234861072567,0.4873046189502937,0.43499999999995187],"tcp_quaternion_wxyz":[-1.810344332293875e-14,0.7071067811865468,0.7071067811865475,4.0376766473704785e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,-1.7025829319944724e-17,8.407878709761323e-17,-2.458574836597834e-07],"object_linear_velocity_m_s":[-1.8608817980285236e-16,1.6277410272893547e-17,6.520639434470105e-15],"object_angular_velocity_rad_s":[4.106363628968741e-15,4.546599525235094e-15,-8.569710385309027e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221306892,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737366,-1.310202748889677,-1.5707950793627241,-0.41471399677482146,0.0],"actuator_force":[-6.225491233635694e-10,-19.807843877888445,-20.28858510040891,-2.4133468433223015,0.0006237157773512081,-2.842170943040401e-14,-0.29336111264669107],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.3053760552033729,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.53999999999723,"joint_targets_rad":[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.3053760552033729,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.559999999997256,"qpos":[-1.9855103235697253,-1.5821556794154306,1.316735407824038,-1.305376055203592,-1.5707963267949028,-0.4147139967748248,0.002933611171844379,0.00015630156287755706,0.0031934794664716056,-0.0034292989417643695,0.0029336110743291488,0.00015630110782366644,0.003197849387599707,-0.00343799689045245,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,9.790285826233084e-19,7.551919994341307e-17,-2.461825531877362e-07],"qvel":[1.9057192576630275e-12,4.277612134635091e-13,-4.67980995346934e-13,4.13936680741843e-12,6.749542263848974e-12,2.7054601560685726e-14,6.261238713724605e-10,3.572730029847065e-09,-3.44125001319347e-09,-2.706131213133525e-10,-4.650020021285062e-10,-2.3155712399363537e-09,2.2532309518604508e-09,1.4803673851507648e-10,-9.129291020728892e-17,-1.0957202302729717e-18,6.619171727905589e-15,6.757392999638785e-16,-2.9985757693795257e-15,-9.284579414550188e-09],"joint_position_rad":[-1.9855103235697253,-1.5821556794154306,1.316735407824038,-1.305376055203592,-1.5707963267949028,-0.4147139967748248],"joint_velocity_rad_s":[1.9057192576630275e-12,4.277612134635091e-13,-4.67980995346934e-13,4.13936680741843e-12,6.749542263848974e-12,2.7054601560685726e-14],"linkage_position_rad":[0.002933611171844379,0.00015630156287755706,0.0031934794664716056,-0.0034292989417643695,0.0029336110743291488,0.00015630110782366644,0.003197849387599707,-0.00343799689045245],"tcp_position_m":[0.06812348610726188,0.48730461895029414,0.43499999999995786],"tcp_quaternion_wxyz":[-1.3058191771700315e-14,0.7071067811865489,0.7071067811865458,4.214060408591586e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,9.790285826233084e-19,7.551919994341307e-17,-2.461825531877362e-07],"object_linear_velocity_m_s":[-9.129291020728892e-17,-1.0957202302729717e-18,6.619171727905589e-15],"object_angular_velocity_rad_s":[6.757378221673913e-16,-2.9985761020714365e-15,-9.284579414550195e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287945,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737366,-1.3102027488896766,-1.570795079362724,-0.4147139967748206,0.0],"actuator_force":[-7.466951501555741e-10,-19.80784387787753,-20.288585100415276,-2.4133468434562246,0.0006237154144628221,-5.968558980384842e-13,-0.29336111311428575],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.559999999997256,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.57999999999728,"qpos":[-1.9855103235697285,-1.582155679415422,1.3167354078240154,-1.305376055203578,-1.5707963267949188,-0.4147139967748248,0.0029336111701799296,0.00015630155373034044,0.003193479475248835,-0.0034292989413160476,0.002933611075603039,0.00015630111368716146,0.0031978493820107984,-0.0034379968907730565,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,2.802600300210534e-17,6.436062630682028e-17,-2.466512755919569e-07],"qvel":[2.815791483727167e-13,3.6053526847255173e-13,-1.16426733256865e-12,3.0341172842845842e-12,5.889214282567964e-12,2.4489676581568407e-14,-2.3620823575626797e-10,-7.598119463447447e-10,9.018283671374578e-10,-1.7877896560419913e-11,4.1446844171126623e-10,4.591486331722197e-10,-3.0182440837583076e-10,-1.2936519053510745e-10,-8.293134394372792e-17,3.147838963136306e-17,6.69688733962935e-15,2.0054542356058958e-16,-2.7400967848496556e-15,-1.695129736265483e-08],"joint_position_rad":[-1.9855103235697285,-1.582155679415422,1.3167354078240154,-1.305376055203578,-1.5707963267949188,-0.4147139967748248],"joint_velocity_rad_s":[2.815791483727167e-13,3.6053526847255173e-13,-1.16426733256865e-12,3.0341172842845842e-12,5.889214282567964e-12,2.4489676581568407e-14],"linkage_position_rad":[0.0029336111701799296,0.00015630155373034044,0.003193479475248835,-0.0034292989413160476,0.002933611075603039,0.00015630111368716146,0.0031978493820107984,-0.0034379968907730565],"tcp_position_m":[0.068123486107268,0.4873046189502943,0.4349999999999632],"tcp_quaternion_wxyz":[-5.512060378892642e-15,0.7071067811865498,0.7071067811865442,4.501359770286258e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,2.802600300210534e-17,6.436062630682028e-17,-2.466512755919569e-07],"object_linear_velocity_m_s":[-8.293134394372792e-17,3.147838963136306e-17,6.69688733962935e-15],"object_angular_velocity_rad_s":[2.005440696818389e-16,-2.7400968828287387e-15,-1.6951297362654846e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221262212,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737366,-1.3102027488896768,-1.5707950793627237,-0.4147139967748217,0.0],"actuator_force":[-9.140421752817929e-11,-19.807843877867526,-20.28858510009195,-2.4133468433527696,0.0006237155085955237,-8.810729923425242e-13,-0.29336111318044944],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153446,1.3167354078238194,-1.3053760552033722,-1.5707963267948966,-0.4147139967748211],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.57999999999728,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153446,1.3167354078238194,-1.3053760552033722,-1.5707963267948966,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.599999999997305,"qpos":[-1.985510323569726,-1.582155679415414,1.3167354078239977,-1.3053760552035598,-1.5707963267949228,-0.4147139967748247,0.002933611170336382,0.0001563015559069384,0.0031934794736015737,-0.0034292989423242914,0.002933611075282485,0.00015630111220329526,0.003197849382915871,-0.003437996890128301,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,2.927786324304151e-17,6.083024921002777e-17,-2.471168622524345e-07],"qvel":[-6.671933792803175e-12,2.8576819664219215e-13,-2.8674828874879512e-12,-1.1947144305488444e-11,-2.9816185338340014e-11,-1.0365521686433491e-14,-2.438635527076245e-09,-1.3835694890710296e-08,1.3035757324608218e-08,1.2542925820337023e-09,1.6471266885382629e-09,8.963848228898047e-09,-8.71755490854143e-09,-6.394195999140699e-10,-8.5301803172023e-17,3.6620578253418376e-17,6.767664057449206e-15,-6.119327361169121e-16,-1.2037741549043485e-15,-3.094878824848505e-08],"joint_position_rad":[-1.985510323569726,-1.582155679415414,1.3167354078239977,-1.3053760552035598,-1.5707963267949228,-0.4147139967748247],"joint_velocity_rad_s":[-6.671933792803175e-12,2.8576819664219215e-13,-2.8674828874879512e-12,-1.1947144305488444e-11,-2.9816185338340014e-11,-1.0365521686433491e-14],"linkage_position_rad":[0.002933611170336382,0.0001563015559069384,0.0031934794736015737,-0.0034292989423242914,0.002933611075282485,0.00015630111220329526,0.003197849382915871,-0.003437996890128301],"tcp_position_m":[0.06812348610726777,0.4873046189502944,0.43499999999996586],"tcp_quaternion_wxyz":[-2.1826702702264184e-15,0.7071067811865491,0.7071067811865456,4.1655668367134016e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,2.927786324304151e-17,6.083024921002777e-17,-2.471168622524345e-07],"object_linear_velocity_m_s":[-8.5301803172023e-17,3.6620578253418376e-17,6.767664057449206e-15],"object_angular_velocity_rad_s":[-6.119333348278667e-16,-1.2037738506541778e-15,-3.094878824848508e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221269382,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.306591115273736,-1.310202748889676,-1.5707950793627241,-0.4147139967748211,0.0],"actuator_force":[2.6861926016863436e-09,-19.80784387785343,-20.288585099376633,-2.4133468418632447,0.0006237190809770254,2.8137492336099967e-12,-0.2933611083233992],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.305376055203372,-1.5707963267948968,-0.41471399677482185],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.599999999997305,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.305376055203372,-1.5707963267948968,-0.41471399677482185],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.61999999999733,"qpos":[-1.9855103235697211,-1.582155679415408,1.3167354078239812,-1.3053760552035332,-1.5707963267948986,-0.4147139967748247,0.0029336111725728354,0.00015630156686692495,0.0031934794626348115,-0.003429298942120525,0.0029336110737162046,0.00015630110525845388,0.00319784938999907,-0.0034379968902099444,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,2.3934977251282386e-17,5.2869816639944064e-17,-2.475003530413138e-07],"qvel":[1.925217993937448e-12,3.301762134699981e-13,-1.1253244218248588e-13,3.3498388133610578e-12,5.175751278307665e-12,1.7219529783126395e-14,8.454922412574774e-10,4.378727390532296e-09,-4.293886030844e-09,-2.941315626342149e-10,-7.308633644580266e-10,-2.8332475444367004e-09,2.708826253824761e-09,2.2485220479408732e-10,-8.890894059798243e-17,3.959250139835826e-17,6.856481899419221e-15,1.321262175781732e-16,2.24958297692567e-16,-5.6504671799326457e-08],"joint_position_rad":[-1.9855103235697211,-1.582155679415408,1.3167354078239812,-1.3053760552035332,-1.5707963267948986,-0.4147139967748247],"joint_velocity_rad_s":[1.925217993937448e-12,3.301762134699981e-13,-1.1253244218248588e-13,3.3498388133610578e-12,5.175751278307665e-12,1.7219529783126395e-14],"linkage_position_rad":[0.0029336111725728354,0.00015630156686692495,0.0031934794626348115,-0.003429298942120525,0.0029336110737162046,0.00015630110525845388,0.00319784938999907,-0.0034379968902099444],"tcp_position_m":[0.06812348610725885,0.4873046189502947,0.43499999999996836],"tcp_quaternion_wxyz":[-1.0484770613482079e-14,0.7071067811865475,0.7071067811865475,2.9961131782388476e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,2.3934977251282386e-17,5.2869816639944064e-17,-2.475003530413138e-07],"object_linear_velocity_m_s":[-8.890894059798243e-17,3.959250139835826e-17,6.856481899419221e-15],"object_angular_velocity_rad_s":[1.3212632295789077e-16,2.2495823499484626e-16,-5.650467179932653e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221299735,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542831,1.306591115273735,-1.3102027488896757,-1.5707950793627243,-0.41471399677482185,0.0],"actuator_force":[-7.626113074366003e-10,-19.807843877882533,-20.288585100447108,-2.4133468434062024,0.0006237155694179819,-3.126388037344441e-13,-0.29336111288759636],"issued_joint_targets_rad":[-1.985510323569718,-1.5821556794153449,1.3167354078238191,-1.3053760552033715,-1.5707963267948966,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.61999999999733,"joint_targets_rad":[-1.985510323569718,-1.5821556794153449,1.3167354078238191,-1.3053760552033715,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.639999999997354,"qpos":[-1.9855103235697245,-1.5821556794154028,1.316735407823964,-1.3053760552035236,-1.570796326794911,-0.41471399677482457,0.002933611170335825,0.0001563015554003632,0.0031934794738514923,-0.003429298941625676,0.0029336110756573706,0.00015630111261801785,0.003197849383066455,-0.003437996890694076,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,2.1153581364829874e-17,4.2243143282553196e-17,-2.4781743292975896e-07],"qvel":[1.5612787098705502e-12,2.736859505908403e-13,-3.26853861174648e-13,4.083158812597602e-12,8.087562312449827e-12,2.7241395066640285e-14,2.858051229692305e-10,2.1295932593982488e-09,-1.9134411097358967e-09,-2.5041122085212215e-10,-7.369823979686943e-11,-1.3953265545593392e-09,1.407047644836812e-09,5.691187107236363e-11,-8.676643045562442e-17,6.158574554652945e-17,6.41378046834994e-15,1.2876725744170898e-15,1.4433148047853388e-15,-1.0316326149877162e-07],"joint_position_rad":[-1.9855103235697245,-1.5821556794154028,1.316735407823964,-1.3053760552035236,-1.570796326794911,-0.41471399677482457],"joint_velocity_rad_s":[1.5612787098705502e-12,2.736859505908403e-13,-3.26853861174648e-13,4.083158812597602e-12,8.087562312449827e-12,2.7241395066640285e-14],"linkage_position_rad":[0.002933611170335825,0.0001563015554003632,0.0031934794738514923,-0.003429298941625676,0.0029336110756573706,0.00015630111261801785,0.003197849383066455,-0.003437996890694076],"tcp_position_m":[0.06812348610726393,0.4873046189502947,0.4349999999999732],"tcp_quaternion_wxyz":[-5.300315962028284e-15,0.7071067811865486,0.7071067811865461,3.325031717987522e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,2.1153581364829874e-17,4.2243143282553196e-17,-2.4781743292975896e-07],"object_linear_velocity_m_s":[-8.676643045562442e-17,6.158574554652945e-17,6.41378046834994e-15],"object_angular_velocity_rad_s":[1.2876732810581935e-15,1.443314170934287e-15,-1.0316326149877178e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221265739,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.592059601354284,1.306591115273736,-1.310202748889675,-1.570795079362724,-0.41471399677482096,0.0],"actuator_force":[-6.111804395914078e-10,-19.807843877872074,-20.28858510032478,-2.413346843483964,0.0006237152847461402,-9.094947017729282e-13,-0.2933611133601942],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948966,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.639999999997354,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.65999999999738,"qpos":[-1.9855103235697271,-1.5821556794153984,1.3167354078239488,-1.3053760552035167,-1.570796326794928,-0.41471399677482457,0.002933611170748599,0.00015630155387242548,0.0031934794740144283,-0.0034292989401641873,0.0029336110747712656,0.0001563011137590692,0.003197849382300911,-0.003437996891161723,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,1.8883093900334186e-17,3.542998659967542e-17,-2.4820875575409803e-07],"qvel":[-2.2261143820504705e-12,2.2647192564489376e-13,-1.7199102724870033e-12,-1.4067089904751457e-12,-3.242849117038833e-12,1.8490997134492267e-14,-1.1746703337047402e-09,-6.264573410370186e-09,6.11847212538614e-09,4.102599178592632e-10,1.1307029327085629e-09,4.012678106800752e-09,-3.6359184791942436e-09,-3.987935791426783e-10,-4.306167254664502e-17,2.550380405816394e-17,5.6171954481813915e-15,-8.3420926687942515e-16,-1.4760725954862169e-15,-1.1176894562170282e-08],"joint_position_rad":[-1.9855103235697271,-1.5821556794153984,1.3167354078239488,-1.3053760552035167,-1.570796326794928,-0.41471399677482457],"joint_velocity_rad_s":[-2.2261143820504705e-12,2.2647192564489376e-13,-1.7199102724870033e-12,-1.4067089904751457e-12,-3.242849117038833e-12,1.8490997134492267e-14],"linkage_position_rad":[0.002933611170748599,0.00015630155387242548,0.0031934794740144283,-0.0034292989401641873,0.0029336110747712656,0.0001563011137590692,0.003197849382300911,-0.003437996891161723],"tcp_position_m":[0.06812348610727005,0.4873046189502943,0.4349999999999776],"tcp_quaternion_wxyz":[2.12986167931091e-15,0.7071067811865497,0.707106781186545,3.8124670904245537e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,1.8883093900334186e-17,3.542998659967542e-17,-2.4820875575409803e-07],"object_linear_velocity_m_s":[-4.306167254664502e-17,2.550380405816394e-17,5.6171954481813915e-15],"object_angular_velocity_rad_s":[-8.342100004196028e-16,-1.4760721809478402e-15,-1.11768945621703e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221267022,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737353,-1.3102027488896753,-1.5707950793627241,-0.41471399677482107,0.0],"actuator_force":[9.090399544220418e-10,-19.807843877860705,-20.288585099739066,-2.4133468429386085,0.000623716426161991,-8.526512829121202e-14,-0.2933611120561563],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.3167354078238187,-1.305376055203372,-1.5707963267948966,-0.4147139967748213],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.65999999999738,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.3167354078238187,-1.305376055203372,-1.5707963267948966,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.679999999997403,"qpos":[-1.9855103235697176,-1.582155679415394,1.3167354078239393,-1.30537605520349,-1.5707963267948954,-0.41471399677482457,0.0029336111737454165,0.00015630157173758717,0.003193479457352537,-0.0034292989420658592,0.0029336110726033834,0.00015630110212111248,0.0031978493932863163,-0.003437996890113837,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,2.319886333266694e-17,3.7409621834695396e-17,-2.4865273974368453e-07],"qvel":[1.7036756177530512e-12,2.720625398217396e-13,6.497528046075055e-14,2.5007040541697928e-12,3.514983192369535e-12,1.716030151722015e-14,9.512062297953785e-10,4.631163989882816e-09,-4.556710858569138e-09,-3.1351816290641e-10,-8.775755667902516e-10,-2.9987782683728325e-09,2.8169099561960517e-09,2.8116908677646723e-10,-4.505267197374393e-17,2.787177192637524e-17,5.483968685226373e-15,-3.8944337888798307e-16,-6.921327145288355e-16,-2.040618695311776e-08],"joint_position_rad":[-1.9855103235697176,-1.582155679415394,1.3167354078239393,-1.30537605520349,-1.5707963267948954,-0.41471399677482457],"joint_velocity_rad_s":[1.7036756177530512e-12,2.720625398217396e-13,6.497528046075055e-14,2.5007040541697928e-12,3.514983192369535e-12,1.716030151722015e-14],"linkage_position_rad":[0.0029336111737454165,0.00015630157173758717,0.003193479457352537,-0.0034292989420658592,0.0029336110726033834,0.00015630110212111248,0.0031978493932863163,-0.003437996890113837],"tcp_position_m":[0.06812348610725612,0.4873046189502945,0.4349999999999775],"tcp_quaternion_wxyz":[-9.219636623329684e-15,0.7071067811865459,0.7071067811865486,2.2324079430669016e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,2.319886333266694e-17,3.7409621834695396e-17,-2.4865273974368453e-07],"object_linear_velocity_m_s":[-4.505267197374393e-17,2.787177192637524e-17,5.483968685226373e-15],"object_angular_velocity_rad_s":[-3.8944372461610236e-16,-6.92132519909624e-16,-2.0406186953117796e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221315013,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737355,-1.3102027488896757,-1.5707950793627241,-0.4147139967748213,0.0],"actuator_force":[-6.816662789788097e-10,-19.80784387788799,-20.288585100433465,-2.413346843342879,0.0006237157341502098,-5.684341886080802e-14,-0.29336111268559334],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.679999999997403,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.699999999997427,"qpos":[-1.9855103235697207,-1.5821556794153895,1.3167354078239262,-1.3053760552034828,-1.570796326794904,-0.41471399677482434,0.00293361117089722,0.0001563015588748458,0.003193479470597256,-0.003429298942019667,0.002933611075274729,0.00015630111028108954,0.0031978493853385597,-0.003437996890520697,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999997,3.2866917586513394e-17,4.320407902899039e-17,-2.490872402093129e-07],"qvel":[2.069588238866278e-12,2.2777204662655473e-13,1.6208997874557484e-13,3.88565725963323e-12,7.362948959861426e-12,2.5338370810985556e-14,6.3644403933532e-10,3.80523334573121e-09,-3.592526011900695e-09,-3.5881726768742133e-10,-4.5754718055737134e-10,-2.4605709379517734e-09,2.354614025772383e-09,1.8882473028106708e-10,-6.19345643124586e-17,4.800453515179549e-17,5.381273055448547e-15,5.404299689469015e-16,2.5490288434156535e-16,-3.7256544172386115e-08],"joint_position_rad":[-1.9855103235697207,-1.5821556794153895,1.3167354078239262,-1.3053760552034828,-1.570796326794904,-0.41471399677482434],"joint_velocity_rad_s":[2.069588238866278e-12,2.2777204662655473e-13,1.6208997874557484e-13,3.88565725963323e-12,7.362948959861426e-12,2.5338370810985556e-14],"linkage_position_rad":[0.00293361117089722,0.0001563015588748458,0.003193479470597256,-0.003429298942019667,0.002933611075274729,0.00015630111028108954,0.0031978493853385597,-0.003437996890520697],"tcp_position_m":[0.06812348610725989,0.48730461895029453,0.43499999999998085],"tcp_quaternion_wxyz":[-5.4797720207830035e-15,0.7071067811865469,0.7071067811865476,2.431221476123949e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999997,3.2866917586513394e-17,4.320407902899039e-17,-2.490872402093129e-07],"object_linear_velocity_m_s":[-6.19345643124586e-17,4.800453515179549e-17,5.381273055448547e-15],"object_angular_velocity_rad_s":[5.404300927136787e-16,2.5490261756213156e-16,-3.725654417238619e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221274296,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.306591115273735,-1.3102027488896746,-1.570795079362724,-0.4147139967748206,0.0],"actuator_force":[-8.212737157009542e-10,-19.807843877879804,-20.288585100447108,-2.4133468434845327,0.0006237153537540507,-6.536993168992922e-13,-0.2933611132030818],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948968,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.699999999997427,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.71999999999745,"qpos":[-1.985510323569725,-1.582155679415385,1.316735407823914,-1.3053760552034808,-1.5707963267949228,-0.41471399677482434,0.002933611170279937,0.00015630155216973845,0.003193479475960645,-0.0034292989402734124,0.0029336110754310633,0.00015630111473391437,0.0031978493815172327,-0.0034379968913204797,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,2.6000031300034974e-17,4.339823720886244e-17,-2.494865742752541e-07],"qvel":[3.5666999186763463e-13,1.710939575641889e-13,-6.406427451450198e-13,2.7729307016184164e-12,6.454804225065596e-12,2.6430278001696762e-14,-3.5192346077899183e-10,-1.232341359552825e-09,1.4012657221621223e-09,-6.300744647258918e-11,5.467976796607831e-10,7.521183923254379e-10,-5.493185950101379e-10,-1.4656254912716092e-10,-7.855160245582042e-17,3.2514465083563815e-17,6.055733542908329e-15,-9.738878743947699e-16,1.2295393229168763e-15,-6.802104120961399e-08],"joint_position_rad":[-1.985510323569725,-1.582155679415385,1.316735407823914,-1.3053760552034808,-1.5707963267949228,-0.41471399677482434],"joint_velocity_rad_s":[3.5666999186763463e-13,1.710939575641889e-13,-6.406427451450198e-13,2.7729307016184164e-12,6.454804225065596e-12,2.6430278001696762e-14],"linkage_position_rad":[0.002933611170279937,0.00015630155216973845,0.003193479475960645,-0.0034292989402734124,0.0029336110754310633,0.00015630111473391437,0.0031978493815172327,-0.0034379968913204797],"tcp_position_m":[0.06812348610726748,0.48730461895029487,0.4349999999999845],"tcp_quaternion_wxyz":[2.336024758195109e-15,0.7071067811865488,0.7071067811865459,3.0408799947769735e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,2.6000031300034974e-17,4.339823720886244e-17,-2.494865742752541e-07],"object_linear_velocity_m_s":[-7.855160245582042e-17,3.2514465083563815e-17,6.055733542908329e-15],"object_angular_velocity_rad_s":[-9.73887266791527e-16,1.2295398123977221e-15,-6.802104120961399e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221258754,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697171,-1.5920596013542836,1.3065911152737353,-1.310202748889675,-1.5707950793627241,-0.41471399677482096,0.0],"actuator_force":[-1.2732925824820995e-10,-19.807843877865253,-20.28858510010059,-2.41334684337437,0.0006237154537984679,-9.379164112033322e-13,-0.2933611132599211],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.71999999999745,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.739999999997476,"qpos":[-1.985510323569723,-1.5821556794153808,1.3167354078239053,-1.3053760552034723,-1.5707963267949283,-0.41471399677482434,0.002933611170951484,0.00015630155600492227,0.00319347947222389,-0.0034292989408658296,0.002933611074560655,0.00015630111222621643,0.0031978493835619834,-0.0034379968907895858,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,1.5157472143766927e-17,3.5304867660406126e-17,-2.4974459428716466e-07],"qvel":[-6.979138864226762e-12,1.0635654665293423e-13,-2.511968968653778e-12,-1.3005550056935467e-11,-3.121753939140721e-11,-1.3143054309544873e-14,-2.694820789840521e-09,-1.5376522531146557e-08,1.4447414259618776e-08,1.2775821814989954e-09,1.852763986250985e-09,9.919555878585137e-09,-9.52273148104741e-09,-6.828584529410062e-10,-4.228436385748146e-17,2.0349300488278994e-17,6.338840414187742e-15,-1.0991085520013773e-15,-1.4156135846414488e-15,-7.369522779366027e-09],"joint_position_rad":[-1.985510323569723,-1.5821556794153808,1.3167354078239053,-1.3053760552034723,-1.5707963267949283,-0.41471399677482434],"joint_velocity_rad_s":[-6.979138864226762e-12,1.0635654665293423e-13,-2.511968968653778e-12,-1.3005550056935467e-11,-3.121753939140721e-11,-1.3143054309544873e-14],"linkage_position_rad":[0.002933611170951484,0.00015630155600492227,0.00319347947222389,-0.0034292989408658296,0.002933611074560655,0.00015630111222621643,0.0031978493835619834,-0.0034379968907895858],"tcp_position_m":[0.06812348610726798,0.48730461895029453,0.43499999999998573],"tcp_quaternion_wxyz":[5.516279631717899e-15,0.7071067811865481,0.7071067811865466,2.973906010607504e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,1.5157472143766927e-17,3.5304867660406126e-17,-2.4974459428716466e-07],"object_linear_velocity_m_s":[-4.228436385748146e-17,2.0349300488278994e-17,6.338840414187742e-15],"object_angular_velocity_rad_s":[-1.0991092596052812e-15,-1.4156130354250268e-15,-7.3695227793660285e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221272378,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.3102027488896748,-1.5707950793627243,-0.41471399677482107,0.0],"actuator_force":[2.802153176162392e-09,-19.807843877849336,-20.28858509933525,-2.413346841800603,0.0006237192236540068,2.9558577807620168e-12,-0.2933611080653229],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.739999999997476,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.7599999999975,"qpos":[-1.9855103235697174,-1.5821556794153766,1.316735407823898,-1.3053760552034523,-1.5707963267949006,-0.41471399677482434,0.0029336111716496507,0.00015630156310143274,0.0031934794666100964,-0.0034292989424773413,0.0029336110746537437,0.0001563011075196026,0.003197849387916002,-0.0034379968902397756,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,4.251646061876769e-17,3.2363378788501434e-17,-2.50215673670745e-07],"qvel":[2.090431642757497e-12,1.823122843331246e-13,3.88268338971256e-13,3.1954416541734526e-12,5.662303052531823e-12,2.00450029863393e-14,8.771361696847543e-10,4.693349746147512e-09,-4.533824394546903e-09,-3.7903411955298434e-10,-7.486792254281263e-10,-3.0220752177103767e-09,2.8478956859110763e-09,2.6992192490054485e-10,-4.1495935907317234e-17,5.1445165385759575e-17,6.501210531539171e-15,-7.0075946367087e-16,-1.2621835723864962e-15,-1.3454887558839322e-08],"joint_position_rad":[-1.9855103235697174,-1.5821556794153766,1.316735407823898,-1.3053760552034523,-1.5707963267949006,-0.41471399677482434],"joint_velocity_rad_s":[2.090431642757497e-12,1.823122843331246e-13,3.88268338971256e-13,3.1954416541734526e-12,5.662303052531823e-12,2.00450029863393e-14],"linkage_position_rad":[0.0029336111716496507,0.00015630156310143274,0.0031934794666100964,-0.0034292989424773413,0.0029336110746537437,0.0001563011075196026,0.003197849387916002,-0.0034379968902397756],"tcp_position_m":[0.06812348610725759,0.4873046189502953,0.4349999999999852],"tcp_quaternion_wxyz":[-4.3587753628864044e-15,0.7071067811865461,0.7071067811865486,1.6628578115849227e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,4.251646061876769e-17,3.2363378788501434e-17,-2.50215673670745e-07],"object_linear_velocity_m_s":[-4.1495935907317234e-17,5.1445165385759575e-17,6.501210531539171e-15],"object_angular_velocity_rad_s":[-7.007600961778993e-16,-1.2621832205602275e-15,-1.3454887558839328e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221286092,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737348,-1.3102027488896744,-1.5707950793627241,-0.414713996774821,0.0],"actuator_force":[-8.36735125631094e-10,-19.807843877886626,-20.28858510048167,-2.413346843430645,0.0006237155218968837,-3.410605131648481e-13,-0.29336111295745443],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.7599999999975,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.779999999997525,"qpos":[-1.985510323569722,-1.582155679415373,1.3167354078238884,-1.3053760552034523,-1.5707963267949159,-0.4147139967748243,0.0029336111703487417,0.00015630155356228465,0.003193479474901708,-0.0034292989406631397,0.002933611075592511,0.00015630111378281983,0.0031978493824778844,-0.0034379968912510057,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,5.800003629257078e-17,2.6674964497726007e-17,-2.5068896491953e-07],"qvel":[1.720952438365162e-12,1.261060842472438e-13,1.1041642927814373e-13,4.029162571437844e-12,8.787939872816085e-12,2.77807488337805e-14,2.0014618389196858e-10,1.9082902681599624e-09,-1.6328956056761418e-09,-3.2478473266254753e-10,3.1630693121084434e-11,-1.258410674171522e-09,1.2783528097506073e-09,6.020983624379608e-11,-3.5106690239355895e-17,7.291039431699237e-17,6.596967267413092e-15,-6.893038685759983e-16,-8.324717288356923e-16,-2.456522690015857e-08],"joint_position_rad":[-1.985510323569722,-1.582155679415373,1.3167354078238884,-1.3053760552034523,-1.5707963267949159,-0.4147139967748243],"joint_velocity_rad_s":[1.720952438365162e-12,1.261060842472438e-13,1.1041642927814373e-13,4.029162571437844e-12,8.787939872816085e-12,2.77807488337805e-14],"linkage_position_rad":[0.0029336111703487417,0.00015630155356228465,0.003193479474901708,-0.0034292989406631397,0.002933611075592511,0.00015630111378281983,0.0031978493824778844,-0.0034379968912510057],"tcp_position_m":[0.06812348610726451,0.4873046189502956,0.4349999999999883],"tcp_quaternion_wxyz":[1.7267685843629095e-15,0.7071067811865478,0.7071067811865469,2.2367585891833465e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,5.800003629257078e-17,2.6674964497726007e-17,-2.5068896491953e-07],"object_linear_velocity_m_s":[-3.5106690239355895e-17,7.291039431699237e-17,6.596967267413092e-15],"object_angular_velocity_rad_s":[-6.893042872694165e-16,-8.324713803842731e-16,-2.4565226900158587e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221260653,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737353,-1.3102027488896746,-1.570795079362724,-0.41471399677482074,0.0],"actuator_force":[-6.798472895752639e-10,-19.807843877872074,-20.288585100350247,-2.4133468435140912,0.0006237152171024718,-9.947598300641403e-13,-0.293361113455947],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.3053760552033715,-1.5707963267948968,-0.4147139967748213],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.779999999997525,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.3053760552033715,-1.5707963267948968,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.79999999999755,"qpos":[-1.9855103235697247,-1.5821556794153697,1.3167354078238807,-1.3053760552034528,-1.5707963267949332,-0.4147139967748243,0.0029336111695245676,0.0001563015486570316,0.003193479479515153,-0.003429298940527263,0.0029336110759367717,0.00015630111688227593,0.003197849379282677,-0.0034379968911862333,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,7.431975359081359e-17,7.632417832392517e-18,-2.510905894283174e-07],"qvel":[-2.4131922537482415e-12,7.888927826671642e-14,-1.4671300056390102e-12,-1.9009109065140727e-12,-3.4708058858249272e-12,1.584650673504901e-14,-1.302152066082658e-09,-6.875926969081162e-09,6.756890297893616e-09,4.0354507256030135e-10,1.2549947646764215e-09,4.367539549794588e-09,-3.976197542492698e-09,-4.1277301911484056e-10,-3.06835628943758e-18,1.2116396129870416e-16,6.553946125208868e-15,2.2975250121424786e-15,-2.1125426057250382e-15,-4.484990082729164e-08],"joint_position_rad":[-1.9855103235697247,-1.5821556794153697,1.3167354078238807,-1.3053760552034528,-1.5707963267949332,-0.4147139967748243],"joint_velocity_rad_s":[-2.4131922537482415e-12,7.888927826671642e-14,-1.4671300056390102e-12,-1.9009109065140727e-12,-3.4708058858249272e-12,1.584650673504901e-14],"linkage_position_rad":[0.0029336111695245676,0.0001563015486570316,0.003193479479515153,-0.003429298940527263,0.0029336110759367717,0.00015630111688227593,0.003197849379282677,-0.0034379968911862333],"tcp_position_m":[0.06812348610727059,0.4873046189502957,0.43499999999999006],"tcp_quaternion_wxyz":[8.957709049179822e-15,0.7071067811865486,0.7071067811865461,2.7578765536343282e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,7.431975359081359e-17,7.632417832392517e-18,-2.510905894283174e-07],"object_linear_velocity_m_s":[-3.06835628943758e-18,1.2116396129870416e-16,6.553946125208868e-15],"object_angular_velocity_rad_s":[2.2975239505784303e-15,-2.1125437528321254e-15,-4.484990082729168e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221248707,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.306591115273735,-1.310202748889675,-1.5707950793627241,-0.4147139967748213,0.0],"actuator_force":[9.799805411603302e-10,-19.80784387785934,-20.28858509970405,-2.413346842920987,0.0006237164516278426,-8.526512829121202e-14,-0.29336111203728044],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033713,-1.5707963267948966,-0.4147139967748213],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.79999999999755,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033713,-1.5707963267948966,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.819999999997574,"qpos":[-1.985510323569715,-1.5821556794153668,1.3167354078238775,-1.3053760552034301,-1.570796326794898,-0.4147139967748243,0.002933611172565481,0.00015630156774778986,0.003193479462130304,-0.0034292989428944634,0.002933611073822161,0.0001563011045218996,0.0031978493906883233,-0.0034379968899138913,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,8.464979168479673e-17,-3.294317244413151e-18,-2.5144411631587276e-07],"qvel":[1.8477953271857294e-12,1.421966012219357e-13,4.429117063471536e-13,2.3849319156648996e-12,3.851941649685575e-12,1.5814467125800114e-14,1.0341965717473273e-09,5.053494997415183e-09,-4.966057693513335e-09,-3.4446103229086146e-10,-9.528542402664429e-10,-3.250636618792513e-09,3.048437236999745e-09,3.0818416300334245e-10,4.21285776096449e-18,1.9596522239859918e-16,6.44986271665026e-15,7.252117634105555e-15,-8.66124897980742e-16,-8.188459290008233e-08],"joint_position_rad":[-1.985510323569715,-1.5821556794153668,1.3167354078238775,-1.3053760552034301,-1.570796326794898,-0.4147139967748243],"joint_velocity_rad_s":[1.8477953271857294e-12,1.421966012219357e-13,4.429117063471536e-13,2.3849319156648996e-12,3.851941649685575e-12,1.5814467125800114e-14],"linkage_position_rad":[0.002933611172565481,0.00015630156774778986,0.003193479462130304,-0.0034292989428944634,0.002933611073822161,0.0001563011045218996,0.0031978493906883233,-0.0034379968899138913],"tcp_position_m":[0.06812348610725585,0.4873046189502957,0.4349999999999882],"tcp_quaternion_wxyz":[-3.4073486656831e-15,0.7071067811865448,0.7071067811865495,1.0808601593950293e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,8.464979168479673e-17,-3.294317244413151e-18,-2.5144411631587276e-07],"object_linear_velocity_m_s":[4.21285776096449e-18,1.9596522239859918e-16,6.44986271665026e-15],"object_angular_velocity_rad_s":[7.252117199080139e-15,-8.661285311222259e-16,-8.188459290008242e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221299943,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.3102027488896748,-1.5707950793627241,-0.4147139967748213,0.0],"actuator_force":[-7.444214134011418e-10,-19.807843877891173,-20.288585100462114,-2.4133468433608414,0.0006237157016357742,-8.526512829121202e-14,-0.2933611127260938],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.819999999997574,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.839999999997598,"qpos":[-1.9855103235697193,-1.5821556794153655,1.3167354078238698,-1.3053760552034297,-1.5707963267949085,-0.4147139967748242,0.0029336111707934966,0.00015630155682679137,0.003193479471988008,-0.0034292989411695697,0.002933611075342647,0.00015630111165906068,0.0031978493844649803,-0.0034379968910312774,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,8.326459951965008e-17,-6.012800580894965e-18,-2.5175472408164127e-07],"qvel":[2.2642526713950816e-12,1.0716353767308955e-13,5.202998129925464e-13,3.921446352434922e-12,8.010981563616741e-12,2.5439045422712197e-14,5.778418252097807e-10,3.760791170380011e-09,-3.479382135072704e-09,-4.483375079014289e-10,-3.8261719243695547e-10,-2.4379032848777556e-09,2.3182838899341557e-09,2.1013794366012825e-10,4.9911515282104254e-18,1.0064788607484994e-16,5.818423371394702e-15,-3.2310831435572648e-15,-1.9469389379292225e-18,-8.87152507408235e-09],"joint_position_rad":[-1.9855103235697193,-1.5821556794153655,1.3167354078238698,-1.3053760552034297,-1.5707963267949085,-0.4147139967748242],"joint_velocity_rad_s":[2.2642526713950816e-12,1.0716353767308955e-13,5.202998129925464e-13,3.921446352434922e-12,8.010981563616741e-12,2.5439045422712197e-14],"linkage_position_rad":[0.0029336111707934966,0.00015630155682679137,0.003193479471988008,-0.0034292989411695697,0.002933611075342647,0.00015630111165906068,0.0031978493844649803,-0.0034379968910312774],"tcp_position_m":[0.06812348610726113,0.48730461895029564,0.4349999999999913],"tcp_quaternion_wxyz":[5.31000333200087e-16,0.7071067811865467,0.707106781186548,1.5491589030542766e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,8.326459951965008e-17,-6.012800580894965e-18,-2.5175472408164127e-07],"object_linear_velocity_m_s":[4.9911515282104254e-18,1.0064788607484994e-16,5.818423371394702e-15],"object_angular_velocity_rad_s":[-3.231083144430475e-15,-1.9453105796704577e-18,-8.87152507408236e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221269007,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.3102027488896744,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-9.026734915096313e-10,-19.807843877878895,-20.288585100478485,-2.413346843514546,0.0006237152911126032,-7.105427357601002e-13,-0.29336111328293035],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238185,-1.305376055203371,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.839999999997598,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238185,-1.305376055203371,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.859999999997623,"qpos":[-1.985510323569724,-1.582155679415364,1.3167354078238627,-1.3053760552034326,-1.5707963267949263,-0.4147139967748241,0.0029336111689799954,0.00015630154673658905,0.0031934794817219453,-0.003429298940696274,0.0029336110766929485,0.00015630111805955618,0.003197849378290619,-0.0034379968913164118,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,7.775674020917512e-17,-1.4502314880277995e-17,-2.522025938640152e-07],"qvel":[3.971143422426427e-13,5.885048273632004e-14,-3.8503996383492953e-13,2.7437520278258007e-12,7.055263139354188e-12,2.7833496329844026e-14,-4.041941710982979e-10,-1.3820735016849415e-09,1.6040860067901004e-09,-1.0791930824854256e-10,6.198713781954809e-10,8.349883309257971e-10,-6.326456301322883e-10,-1.4248734851388224e-10,1.7589204574949922e-17,9.842530773932064e-17,5.685196608439682e-15,-2.7971609039876182e-15,2.2539798779178327e-16,-1.6197164446172837e-08],"joint_position_rad":[-1.985510323569724,-1.582155679415364,1.3167354078238627,-1.3053760552034326,-1.5707963267949263,-0.4147139967748241],"joint_velocity_rad_s":[3.971143422426427e-13,5.885048273632004e-14,-3.8503996383492953e-13,2.7437520278258007e-12,7.055263139354188e-12,2.7833496329844026e-14],"linkage_position_rad":[0.0029336111689799954,0.00015630154673658905,0.0031934794817219453,-0.003429298940696274,0.0029336110766929485,0.00015630111805955618,0.003197849378290619,-0.0034379968913164118],"tcp_position_m":[0.0681234861072684,0.4873046189502957,0.43499999999999417],"tcp_quaternion_wxyz":[7.034089313420667e-15,0.7071067811865486,0.7071067811865461,2.2720268032821832e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,7.775674020917512e-17,-1.4502314880277995e-17,-2.522025938640152e-07],"object_linear_velocity_m_s":[1.7589204574949922e-17,9.842530773932064e-17,5.685196608439682e-15],"object_angular_velocity_rad_s":[-2.7971607898255585e-15,2.253994012131031e-16,-1.619716444617286e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221240133,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.3065911152737355,-1.3102027488896744,-1.5707950793627237,-0.4147139967748207,0.0],"actuator_force":[-1.4551915228366852e-10,-19.80784387786389,-20.288585100100136,-2.4133468433952885,0.0006237153957044939,-1.0516032489249483e-12,-0.29336111336203324],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748213],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.859999999997623,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.879999999997647,"qpos":[-1.9855103235697131,-1.5821556794153624,1.3167354078238618,-1.3053760552034128,-1.5707963267948946,-0.4147139967748241,0.002933611173578955,0.0001563015724420029,0.0031934794575206316,-0.0034292989432501996,0.0029336110728559045,0.00015630110149797904,0.003197849393493835,-0.0034379968895747494,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,7.113305766870578e-17,-1.682802814447164e-17,-2.526474674062795e-07],"qvel":[1.4838548822536988e-12,1.2353086666301562e-13,3.9497024704700957e-13,1.6226970238573266e-12,2.2722225057705533e-12,1.32774819967323e-14,1.128753200074931e-09,5.078461560369467e-09,-5.0693719647468875e-09,-2.75161445442855e-10,-1.0846259852371415e-09,-3.26734564625187e-09,3.0673768750093133e-09,3.1274413143907143e-10,2.2292939916737055e-17,9.645005776339163e-17,5.57556208475795e-15,-1.476912999054987e-15,6.476323374646298e-17,-2.957193198526716e-08],"joint_position_rad":[-1.9855103235697131,-1.5821556794153624,1.3167354078238618,-1.3053760552034128,-1.5707963267948946,-0.4147139967748241],"joint_velocity_rad_s":[1.4838548822536988e-12,1.2353086666301562e-13,3.9497024704700957e-13,1.6226970238573266e-12,2.2722225057705533e-12,1.32774819967323e-14],"linkage_position_rad":[0.002933611173578955,0.0001563015724420029,0.0031934794575206316,-0.0034292989432501996,0.0029336110728559045,0.00015630110149797904,0.003197849393493835,-0.0034379968895747494],"tcp_position_m":[0.06812348610725383,0.4873046189502955,0.4349999999999919],"tcp_quaternion_wxyz":[-3.892329590908776e-15,0.7071067811865445,0.70710678118655,7.421260580490657e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,7.113305766870578e-17,-1.682802814447164e-17,-2.526474674062795e-07],"object_linear_velocity_m_s":[2.2292939916737055e-17,9.645005776339163e-17,5.57556208475795e-15],"object_angular_velocity_rad_s":[-1.4769129653349912e-15,6.476398423019604e-17,-2.9571931985267205e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221314304,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737342,-1.3102027488896737,-1.570795079362724,-0.4147139967748213,0.0],"actuator_force":[-6.02540239924565e-10,-19.807843877892537,-20.288585100413002,-2.413346843292743,0.0006237158580688629,8.526512829121202e-14,-0.29336111254237907],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748217],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.879999999997647,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.89999999999767,"qpos":[-1.985510323569717,-1.5821556794153624,1.3167354078238556,-1.305376055203413,-1.5707963267949017,-0.4147139967748241,0.0029336111715001266,0.00015630156110984318,0.0031934794680188185,-0.0034292989417123022,0.0029336110747778888,0.00015630110888628163,0.0031978493870062617,-0.0034379968907152824,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,6.874397818356065e-17,-9.666620273528707e-18,-2.5306917431133913e-07],"qvel":[2.2955802735905464e-12,1.0762261583859764e-13,6.814183348941415e-13,3.2637466985206875e-12,6.1815668090541175e-12,1.565359899910419e-14,8.357859490773239e-10,4.750812017420053e-09,-4.5127548820713376e-09,-4.798292580271362e-10,-6.948776297554605e-10,-3.0667380720666644e-09,2.8604661911800603e-09,3.0458491068519454e-10,1.2962444943274726e-17,1.1339316891674592e-16,5.446498658145276e-15,7.863886305999316e-16,1.1137423900228632e-15,-5.3990879962194185e-08],"joint_position_rad":[-1.985510323569717,-1.5821556794153624,1.3167354078238556,-1.305376055203413,-1.5707963267949017,-0.4147139967748241],"joint_velocity_rad_s":[2.2955802735905464e-12,1.0762261583859764e-13,6.814183348941415e-13,3.2637466985206875e-12,6.1815668090541175e-12,1.565359899910419e-14],"linkage_position_rad":[0.0029336111715001266,0.00015630156110984318,0.0031934794680188185,-0.0034292989417123022,0.0029336110747778888,0.00015630110888628163,0.0031978493870062617,-0.0034379968907152824],"tcp_position_m":[0.06812348610725781,0.4873046189502954,0.43499999999999495],"tcp_quaternion_wxyz":[-1.8940782683169196e-15,0.7071067811865459,0.7071067811865488,1.1739821951248826e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,6.874397818356065e-17,-9.666620273528707e-18,-2.5306917431133913e-07],"object_linear_velocity_m_s":[1.2962444943274726e-17,1.1339316891674592e-16,5.446498658145276e-15],"object_angular_velocity_rad_s":[7.863891953513869e-16,1.1137419994243752e-15,-5.399087996219428e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281124,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737346,-1.3102027488896741,-1.5707950793627241,-0.4147139967748217,0.0],"actuator_force":[-9.19044396141544e-10,-19.807843877885716,-20.28858510051441,-2.4133468434570204,0.0006237154706241199,-3.410605131648481e-13,-0.29336111301844237],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.41471399677482],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.89999999999767,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.41471399677482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.919999999997696,"qpos":[-1.985510323569722,-1.582155679415362,1.3167354078238505,-1.3053760552034164,-1.5707963267949165,-0.4147139967748239,0.0029336111690348825,0.00015630154823683374,0.0031934794806233926,-0.0034292989411461357,0.0029336110768912443,0.000156301117058245,0.0031978493792715564,-0.0034379968912264186,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999689,5.579012553745688e-17,-8.697502100734895e-19,-2.533721478823789e-07],"qvel":[1.8861950300330836e-12,6.755962223631541e-14,3.5393032689868836e-13,4.185233241611727e-12,9.576236162101393e-12,3.018682002955742e-14,1.9779411496531037e-10,2.046018970765985e-09,-1.707105266969986e-09,-3.8827953507975497e-10,5.815661715958588e-11,-1.3479114845607262e-09,1.3495235543705076e-09,7.980371045799341e-11,5.2732361516317486e-18,1.0891301157535999e-16,5.357680816175263e-15,1.403419718722845e-15,1.1130586141650651e-15,-9.857371241569528e-08],"joint_position_rad":[-1.985510323569722,-1.582155679415362,1.3167354078238505,-1.3053760552034164,-1.5707963267949165,-0.4147139967748239],"joint_velocity_rad_s":[1.8861950300330836e-12,6.755962223631541e-14,3.5393032689868836e-13,4.185233241611727e-12,9.576236162101393e-12,3.018682002955742e-14],"linkage_position_rad":[0.0029336111690348825,0.00015630154823683374,0.0031934794806233926,-0.0034292989411461357,0.0029336110768912443,0.000156301117058245,0.0031978493792715564,-0.0034379968912264186],"tcp_position_m":[0.06812348610726442,0.4873046189502951,0.43499999999999744],"tcp_quaternion_wxyz":[3.646584181990728e-15,0.7071067811865479,0.7071067811865466,1.827410597194586e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999689,5.579012553745688e-17,-8.697502100734895e-19,-2.533721478823789e-07],"object_linear_velocity_m_s":[5.2732361516317486e-18,1.0891301157535999e-16,5.357680816175263e-15],"object_angular_velocity_rad_s":[1.403420282930243e-15,1.113057913988867e-15,-9.857371241569548e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221242323,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737348,-1.3102027488896744,-1.570795079362724,-0.41471399677482,0.0],"actuator_force":[-7.457856554538012e-10,-19.80784387787071,-20.28858510037253,-2.413346843547515,0.0006237151386585538,-1.0800249583553523e-12,-0.29336111357606],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033709,-1.5707963267948966,-0.41471399677482024],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.919999999997696,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033709,-1.5707963267948966,-0.41471399677482024],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.93999999999772,"qpos":[-1.9855103235697174,-1.5821556794153606,1.3167354078238493,-1.3053760552034115,-1.5707963267949168,-0.4147139967748239,0.002933611171868384,0.00015630156334301652,0.0031934794662172032,-0.003429298942438056,0.002933611073998004,0.0001563011074781934,0.0031978493874916625,-0.0034379968899599456,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,4.4537231018356176e-17,4.5000383312542796e-18,-2.5374606145381565e-07],"qvel":[-4.755077262057138e-12,5.6726454815034985e-14,-1.4729845421990794e-12,-9.255867835264845e-12,-2.220495137592483e-11,-3.903642481029677e-15,-1.6037261616349527e-09,-8.757579764432297e-09,8.271683006623666e-09,8.910837390281271e-10,1.0319248556018832e-09,5.762777062391776e-09,-5.758779675056592e-09,-4.101476003009916e-10,-1.2947227009582304e-18,5.523737835296443e-17,6.095979127550992e-15,-2.1694777071606734e-15,2.4381304192612603e-16,-1.067965450360453e-08],"joint_position_rad":[-1.9855103235697174,-1.5821556794153606,1.3167354078238493,-1.3053760552034115,-1.5707963267949168,-0.4147139967748239],"joint_velocity_rad_s":[-4.755077262057138e-12,5.6726454815034985e-14,-1.4729845421990794e-12,-9.255867835264845e-12,-2.220495137592483e-11,-3.903642481029677e-15],"linkage_position_rad":[0.002933611171868384,0.00015630156334301652,0.0031934794662172032,-0.003429298942438056,0.002933611073998004,0.0001563011074781934,0.0031978493874916625,-0.0034379968899599456],"tcp_position_m":[0.06812348610726204,0.48730461895029475,0.43499999999999694],"tcp_quaternion_wxyz":[4.753492300414954e-15,0.7071067811865458,0.7071067811865485,1.595606016935187e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,4.4537231018356176e-17,4.5000383312542796e-18,-2.5374606145381565e-07],"object_linear_velocity_m_s":[-1.2947227009582304e-18,5.523737835296443e-17,6.095979127550992e-15],"object_angular_velocity_rad_s":[-2.1694775835233135e-15,2.4381414387022635e-16,-1.067965450360453e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221291445,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737344,-1.3102027488896744,-1.5707950793627243,-0.41471399677482024,0.0],"actuator_force":[1.901753421407193e-09,-19.807843877868436,-20.288585099640386,-2.413346842205897,0.0006237183166604154,2.2168933355715126e-12,-0.29336110943431287],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.93999999999772,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.959999999997745,"qpos":[-1.9855103235697147,-1.5821556794153604,1.316735407823847,-1.3053760552034008,-1.5707963267948977,-0.4147139967748239,0.002933611172386865,0.0001563015658553254,0.0031934794635047263,-0.0034292989422347077,0.0029336110739836183,0.0001563011058200423,0.003197849389810801,-0.003437996890343429,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,5.440166878991646e-17,1.35242236931486e-17,-2.542245638146469e-07],"qvel":[2.0356482011571702e-12,1.1394567629480114e-13,6.6840747205905e-13,2.456171368064761e-12,4.238452159954147e-12,1.50477366972454e-14,1.0066626010441455e-09,5.172560906571512e-09,-5.001496813151714e-09,-4.4983000239449787e-10,-9.161688016537104e-10,-3.334648338273973e-09,3.0887531956140943e-09,3.5236944656554126e-10,-1.593688941338122e-17,7.05287923545081e-17,6.319411511256804e-15,-1.1576424719367762e-15,-1.0701970010162893e-16,-1.949835217493409e-08],"joint_position_rad":[-1.9855103235697147,-1.5821556794153604,1.316735407823847,-1.3053760552034008,-1.5707963267948977,-0.4147139967748239],"joint_velocity_rad_s":[2.0356482011571702e-12,1.1394567629480114e-13,6.6840747205905e-13,2.456171368064761e-12,4.238452159954147e-12,1.50477366972454e-14],"linkage_position_rad":[0.002933611172386865,0.0001563015658553254,0.0031934794635047263,-0.0034292989422347077,0.0029336110739836183,0.0001563011058200423,0.003197849389810801,-0.003437996890343429],"tcp_position_m":[0.06812348610725528,0.4873046189502949,0.43499999999999683],"tcp_quaternion_wxyz":[-2.6706815638413727e-15,0.7071067811865452,0.7071067811865495,8.564403984623871e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,5.440166878991646e-17,1.35242236931486e-17,-2.542245638146469e-07],"object_linear_velocity_m_s":[-1.593688941338122e-17,7.05287923545081e-17,6.319411511256804e-15],"object_angular_velocity_rad_s":[-1.1576425268780997e-15,-1.0701910937782423e-16,-1.9498352174934095e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135132212952,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542831,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.41471399677482107,0.0],"actuator_force":[-8.203642209991813e-10,-19.807843877891173,-20.288585100492583,-2.413346843381987,0.0006237156628685625,-8.526512829121202e-14,-0.29336111277099314],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.3053760552033713,-1.5707963267948968,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.959999999997745,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.3053760552033713,-1.5707963267948968,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.97999999999777,"qpos":[-1.9855103235697193,-1.5821556794153602,1.3167354078238422,-1.305376055203403,-1.570796326794908,-0.4147139967748239,0.002933611169502493,0.0001563015517797075,0.003193479477494711,-0.0034292989417226407,0.0029336110766383333,0.00015630111477115348,0.003197849381384852,-0.0034379968909731317,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,6.358202377112482e-17,1.3855811690068967e-17,-2.5463973413129916e-07],"qvel":[2.4789796345094567e-12,8.277342139487462e-14,7.444751860019961e-13,4.123654131660629e-12,8.727037062195688e-12,2.2641449623729784e-14,6.098953915438052e-10,4.068811828910381e-09,-3.724896512164473e-09,-5.183451461180952e-10,-3.9442113003680353e-10,-2.629552280919919e-09,2.478270115904864e-09,2.4079595010530194e-10,-1.8898374020435643e-17,9.25561365615354e-17,6.473454955923545e-15,3.0968309205676758e-16,-6.89582514345869e-17,-3.559906712425675e-08],"joint_position_rad":[-1.9855103235697193,-1.5821556794153602,1.3167354078238422,-1.305376055203403,-1.570796326794908,-0.4147139967748239],"joint_velocity_rad_s":[2.4789796345094567e-12,8.277342139487462e-14,7.444751860019961e-13,4.123654131660629e-12,8.727037062195688e-12,2.2641449623729784e-14],"linkage_position_rad":[0.002933611169502493,0.0001563015517797075,0.003193479477494711,-0.0034292989417226407,0.0029336110766383333,0.00015630111477115348,0.003197849381384852,-0.0034379968909731317],"tcp_position_m":[0.06812348610726046,0.4873046189502948,0.43499999999999905],"tcp_quaternion_wxyz":[9.12310080462364e-16,0.7071067811865469,0.7071067811865478,1.3441566427176215e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,6.358202377112482e-17,1.3855811690068967e-17,-2.5463973413129916e-07],"object_linear_velocity_m_s":[-1.8898374020435643e-17,9.25561365615354e-17,6.473454955923545e-15],"object_angular_velocity_rad_s":[3.0968305595119914e-16,-6.895840462289672e-17,-3.559906712425676e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221251513,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.3065911152737353,-1.3102027488896746,-1.570795079362724,-0.41471399677482085,0.0],"actuator_force":[-9.881659934762865e-10,-19.80784387788026,-20.288585100511682,-2.4133468435481973,0.0006237152193762086,-7.389644451905042e-13,-0.2933611133844126],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238185,-1.3053760552033713,-1.5707963267948966,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.97999999999777,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238185,-1.3053760552033713,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.999999999997794,"qpos":[-1.9855103235697191,-1.5821556794153597,1.3167354078238405,-1.3053760552034042,-1.5707963267949199,-0.4147139967748239,0.0029336111711351044,0.00015630155979195676,0.0031934794697776607,-0.0034292989421828963,0.002933611074687076,0.00015630110980332395,0.0031978493852371313,-0.00343799689016293,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,7.11492184503037e-17,6.175129455715664e-18,-2.550213025385212e-07],"qvel":[-1.6700931467352021e-12,6.733388924796993e-14,-8.664628295987791e-13,-1.5750244852278213e-12,-2.928791343239795e-12,1.6310047405602698e-14,-6.135515109624592e-10,-3.147941491273029e-09,3.0891363819391586e-09,3.2595637930028454e-10,5.703674055195621e-10,2.053012357491759e-09,-1.947514585305217e-09,-2.2815485770967176e-10,-4.9164379698077265e-18,1.325817125214204e-16,6.570599470578246e-15,3.1103727663150347e-15,-1.1057950919891507e-15,-6.499490668480729e-08],"joint_position_rad":[-1.9855103235697191,-1.5821556794153597,1.3167354078238405,-1.3053760552034042,-1.5707963267949199,-0.4147139967748239],"joint_velocity_rad_s":[-1.6700931467352021e-12,6.733388924796993e-14,-8.664628295987791e-13,-1.5750244852278213e-12,-2.928791343239795e-12,1.6310047405602698e-14],"linkage_position_rad":[0.0029336111711351044,0.00015630155979195676,0.0031934794697776607,-0.0034292989421828963,0.002933611074687076,0.00015630110980332395,0.0031978493852371313,-0.00343799689016293],"tcp_position_m":[0.0681234861072635,0.48730461895029414,0.435],"tcp_quaternion_wxyz":[6.08050589215199e-15,0.7071067811865467,0.7071067811865478,1.6747010664427116e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,7.11492184503037e-17,6.175129455715664e-18,-2.550213025385212e-07],"object_linear_velocity_m_s":[-4.9164379698077265e-18,1.325817125214204e-16,6.570599470578246e-15],"object_angular_velocity_rad_s":[3.110372201509321e-15,-1.1057966691629621e-15,-6.499490668480733e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221280915,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737355,-1.3102027488896748,-1.5707950793627241,-0.41471399677482057,0.0],"actuator_force":[6.707523425575346e-10,-19.807843877874802,-20.288585099863212,-2.4133468429778304,0.0006237163906916976,5.684341886080802e-14,-0.2933611120751885],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748217],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.999999999997794,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.019999999997818,"qpos":[-1.9855103235697134,-1.5821556794153595,1.3167354078238402,-1.3053760552033908,-1.5707963267948952,-0.4147139967748239,0.0029336111733810795,0.00015630157069713773,0.003193479458828098,-0.003429298942683883,0.002933611073042148,0.00015630110271094554,0.0031978493926459748,-0.0034379968899573015,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,6.466858572967137e-17,2.6074142124518877e-18,-2.553236550115859e-07],"qvel":[1.6487994461693778e-12,1.1314333388402864e-13,5.775650986261844e-13,1.6750212062682145e-12,2.5543985936067587e-12,1.0025024093095295e-14,1.112152902862883e-09,5.229445811201056e-09,-5.137744657985345e-09,-3.81394265146306e-10,-1.0615804137678841e-09,-3.3733669806791385e-09,3.1244074862222456e-09,3.6295543186162835e-10,-3.5778925504547246e-17,1.6152841922967577e-16,6.4609649468965114e-15,5.066770449339945e-15,2.5443023587375878e-15,-1.1866428634834638e-07],"joint_position_rad":[-1.9855103235697134,-1.5821556794153595,1.3167354078238402,-1.3053760552033908,-1.5707963267948952,-0.4147139967748239],"joint_velocity_rad_s":[1.6487994461693778e-12,1.1314333388402864e-13,5.775650986261844e-13,1.6750212062682145e-12,2.5543985936067587e-12,1.0025024093095295e-14],"linkage_position_rad":[0.0029336111733810795,0.00015630157069713773,0.003193479458828098,-0.003429298942683883,0.002933611073042148,0.00015630110271094554,0.0031978493926459748,-0.0034379968899573015],"tcp_position_m":[0.06812348610725347,0.4873046189502939,0.4349999999999987],"tcp_quaternion_wxyz":[-3.168228769960936e-15,0.7071067811865442,0.7071067811865498,6.171587524537265e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,6.466858572967137e-17,2.6074142124518877e-18,-2.553236550115859e-07],"object_linear_velocity_m_s":[-3.5778925504547246e-17,1.6152841922967577e-16,6.4609649468965114e-15],"object_angular_velocity_rad_s":[5.066771747961634e-15,2.5442997867522612e-15,-1.1866428634834648e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221310012,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.306591115273735,-1.3102027488896746,-1.5707950793627241,-0.4147139967748217,0.0],"actuator_force":[-6.675691111013293e-10,-19.8078438778939,-20.288585100441196,-2.4133468433093412,0.0006237158301019008,1.1368683772161603e-13,-0.2933611125740238],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153437,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482124],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.019999999997818,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153437,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.039999999997843,"qpos":[-1.9855103235697174,-1.5821556794153595,1.3167354078238365,-1.3053760552033926,-1.5707963267949014,-0.4147139967748239,0.0029336111702560927,0.0001563015564273077,0.0031934794732222833,-0.0034292989423390075,0.0029336110760411417,0.00015630111178001056,0.003197849384127985,-0.003437996890608763,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,6.284236507784748e-17,9.09957962595646e-18,-2.5577377691552134e-07],"qvel":[2.5140126614659156e-12,1.0092874025470104e-13,8.717827153954914e-13,3.4467137326636407e-12,6.740034690822945e-12,1.7117052103381176e-14,8.91973745679224e-10,5.1509592139817945e-09,-4.856681275386137e-09,-5.493176094647998e-10,-7.360589725445218e-10,-3.3139105534256125e-09,3.0676578296319726e-09,3.4202048928702753e-10,-1.2213283158864273e-17,7.587346701986546e-17,6.097366906331772e-15,-2.3553658150038104e-15,-2.428301782407727e-16,-1.2856303664132438e-08],"joint_position_rad":[-1.9855103235697174,-1.5821556794153595,1.3167354078238365,-1.3053760552033926,-1.5707963267949014,-0.4147139967748239],"joint_velocity_rad_s":[2.5140126614659156e-12,1.0092874025470104e-13,8.717827153954914e-13,3.4467137326636407e-12,6.740034690822945e-12,1.7117052103381176e-14],"linkage_position_rad":[0.0029336111702560927,0.0001563015564273077,0.0031934794732222833,-0.0034292989423390075,0.0029336110760411417,0.00015630111178001056,0.003197849384127985,-0.003437996890608763],"tcp_position_m":[0.06812348610725735,0.4873046189502941,0.43500000000000094],"tcp_quaternion_wxyz":[-1.2544416577803588e-15,0.7071067811865458,0.7071067811865485,9.948126211156555e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,6.284236507784748e-17,9.09957962595646e-18,-2.5577377691552134e-07],"object_linear_velocity_m_s":[-1.2213283158864273e-17,7.587346701986546e-17,6.097366906331772e-15],"object_angular_velocity_rad_s":[-2.3553659394566616e-15,-2.4282897174327904e-16,-1.2856303664132453e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"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":[-1.9855103235697171,-1.5920596013542836,1.3065911152737353,-1.3102027488896744,-1.570795079362724,-0.41471399677482124,0.0],"actuator_force":[-1.0049916454590857e-09,-19.807843877888445,-20.288585100551245,-2.4133468434856695,0.0006237154146901958,-3.694822225952521e-13,-0.2933611130944356],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.039999999997843,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.059999999997867,"qpos":[-1.9855103235697196,-1.582155679415359,1.3167354078238342,-1.3053760552033964,-1.5707963267949159,-0.4147139967748239,0.002933611171034692,0.000156301559763206,0.003193479469976223,-0.0034292989422474046,0.0029336110749161684,0.0001563011098040601,0.0031978493852789134,-0.003437996890195877,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,4.839173986500617e-17,3.9801353075077564e-17,-2.562260122827324e-07],"qvel":[2.1463907445146546e-13,6.542419212953086e-14,-2.099919717755031e-13,1.6241451598645944e-12,4.377468251941691e-12,2.1409257652188423e-14,2.6054049315821566e-11,4.2125495205100456e-10,-3.33522542765935e-10,8.468738479513802e-12,1.0520910683918033e-10,-2.7609764304462114e-10,3.343673314390888e-10,-5.567642806348466e-11,-5.302881662974833e-17,6.456786769545938e-17,6.119571366824274e-15,-1.923669371299205e-15,7.630050187837766e-16,-2.3472363869683485e-08],"joint_position_rad":[-1.9855103235697196,-1.582155679415359,1.3167354078238342,-1.3053760552033964,-1.5707963267949159,-0.4147139967748239],"joint_velocity_rad_s":[2.1463907445146546e-13,6.542419212953086e-14,-2.099919717755031e-13,1.6241451598645944e-12,4.377468251941691e-12,2.1409257652188423e-14],"linkage_position_rad":[0.002933611171034692,0.000156301559763206,0.003193479469976223,-0.0034292989422474046,0.0029336110749161684,0.0001563011098040601,0.0031978493852789134,-0.003437996890195877],"tcp_position_m":[0.0681234861072623,0.4873046189502938,0.43500000000000194],"tcp_quaternion_wxyz":[4.607857417945049e-15,0.7071067811865469,0.7071067811865478,1.5038848321417615e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,4.839173986500617e-17,3.9801353075077564e-17,-2.562260122827324e-07],"object_linear_velocity_m_s":[-5.302881662974833e-17,6.456786769545938e-17,6.119571366824274e-15],"object_angular_velocity_rad_s":[-1.9236689821639517e-15,7.630060068436789e-16,-2.3472363869683515e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221279351,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737348,-1.3102027488896744,-1.570795079362724,-0.4147139967748209,0.0],"actuator_force":[-8.230927051045e-11,-19.80784387787571,-20.288585100114688,-2.413346843301497,0.0006237156582074022,-6.252776074688882e-13,-0.2933611129538588],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748212],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.059999999997867,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748212],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.07999999999789,"qpos":[-1.985510323569719,-1.5821556794153588,1.3167354078238331,-1.3053760552033953,-1.5707963267949188,-0.4147139967748239,0.0029336111714746123,0.0001563015606114767,0.0031934794684881744,-0.0034292989418969817,0.002933611074333576,0.00015630110928983903,0.0031978493860925815,-0.003437996890335884,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,3.2722131912785195e-17,6.525171383017677e-17,-2.566645643045855e-07],"qvel":[-5.04924813343003e-12,4.414200302461157e-14,-1.4815629170145576e-12,-9.99562846642694e-12,-2.3755039954395274e-11,-1.0016769550852158e-14,-1.7998028523108236e-09,-9.72259109280239e-09,9.21286937282652e-09,8.654706150329846e-10,1.1810977265158282e-09,6.363002725289115e-09,-6.3308650247585296e-09,-4.015013874312642e-10,-1.0350062977787801e-16,4.7397688129032134e-17,6.462352725677289e-15,-1.3375878744230862e-15,1.8699667961410724e-15,-4.28546089159367e-08],"joint_position_rad":[-1.985510323569719,-1.5821556794153588,1.3167354078238331,-1.3053760552033953,-1.5707963267949188,-0.4147139967748239],"joint_velocity_rad_s":[-5.04924813343003e-12,4.414200302461157e-14,-1.4815629170145576e-12,-9.99562846642694e-12,-2.3755039954395274e-11,-1.0016769550852158e-14],"linkage_position_rad":[0.0029336111714746123,0.0001563015606114767,0.0031934794684881744,-0.0034292989418969817,0.002933611074333576,0.00015630110928983903,0.0031978493860925815,-0.003437996890335884],"tcp_position_m":[0.06812348610726268,0.4873046189502933,0.4350000000000023],"tcp_quaternion_wxyz":[5.858444589020033e-15,0.7071067811865465,0.7071067811865478,1.538778780891494e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,3.2722131912785195e-17,6.525171383017677e-17,-2.566645643045855e-07],"object_linear_velocity_m_s":[-1.0350062977787801e-16,4.7397688129032134e-17,6.462352725677289e-15],"object_angular_velocity_rad_s":[-1.3375869201071587e-15,1.8699674855682366e-15,-4.2854608915936764e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283955,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.3102027488896744,-1.5707950793627241,-0.4147139967748212,0.0],"actuator_force":[2.0218067220412195e-09,-19.80784387786707,-20.28858509960446,-2.413346842140072,0.0006237184727524436,2.3590018827235326e-12,-0.2933611091968838],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948968,-0.4147139967748217],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.07999999999789,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948968,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.099999999997916,"qpos":[-1.9855103235697156,-1.5821556794153586,1.316735407823832,-1.3053760552033848,-1.5707963267948968,-0.4147139967748239,0.0029336111712021814,0.00015630156155926696,0.0031934794683926094,-0.003429298942928574,0.0029336110751980345,0.00015630110845647386,0.003197849387139011,-0.003437996890207098,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,1.6761867191652992e-17,6.652152905924582e-17,-2.5700236341290006e-07],"qvel":[2.2348964401606996e-12,1.1146317833410855e-13,8.327555273678273e-13,2.5986895822454174e-12,4.629448689554238e-12,1.1912691991271727e-14,1.0793401797072038e-09,5.615572396345102e-09,-5.3983307653377725e-09,-5.139190613150145e-10,-9.78760413240064e-10,-3.6050887676511207e-09,3.317177943404053e-09,3.9312531808960084e-10,-1.441000589117908e-16,2.855985785587781e-17,6.7732151725723335e-15,-2.1608580717301504e-15,3.5380810271047995e-15,-7.82416937439411e-08],"joint_position_rad":[-1.9855103235697156,-1.5821556794153586,1.316735407823832,-1.3053760552033848,-1.5707963267948968,-0.4147139967748239],"joint_velocity_rad_s":[2.2348964401606996e-12,1.1146317833410855e-13,8.327555273678273e-13,2.5986895822454174e-12,4.629448689554238e-12,1.1912691991271727e-14],"linkage_position_rad":[0.0029336111712021814,0.00015630156155926696,0.0031934794683926094,-0.003429298942928574,0.0029336110751980345,0.00015630110845647386,0.003197849387139011,-0.003437996890207098],"tcp_position_m":[0.068123486107255,0.48730461895029376,0.43500000000000183],"tcp_quaternion_wxyz":[-2.679030552378273e-15,0.7071067811865451,0.7071067811865491,6.961334969979147e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,1.6761867191652992e-17,6.652152905924582e-17,-2.5700236341290006e-07],"object_linear_velocity_m_s":[-1.441000589117908e-16,2.855985785587781e-17,6.7732151725723335e-15],"object_angular_velocity_rad_s":[-2.16085626354901e-15,3.5380821404185575e-15,-7.824169374394122e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221279589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737348,-1.310202748889674,-1.5707950793627241,-0.4147139967748217,0.0],"actuator_force":[-8.981260180007666e-10,-19.807843877894356,-20.288585100527143,-2.413346843404497,0.000623715623305543,-8.526512829121202e-14,-0.29336111282290966],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.4147139967748199],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.099999999997916,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.4147139967748199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.11999999999794,"qpos":[-1.985510323569719,-1.5821556794153584,1.3167354078238296,-1.3053760552033893,-1.5707963267949094,-0.4147139967748238,0.002933611171358452,0.00015630156190771168,0.0031934794680183037,-0.0034292989424743736,0.0029336110747495018,0.000156301108398899,0.0031978493866405885,-0.0034379968900989425,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,4.34007081641241e-18,5.962568427941234e-17,-2.572991527944312e-07],"qvel":[1.1995913591484315e-12,6.923924172838923e-14,2.501872302493847e-13,2.6055506261796568e-12,6.1241786329699966e-12,2.597050947456389e-14,4.5165813167479886e-10,2.596871638180659e-09,-2.489830579280541e-09,-1.5292701940902168e-10,-2.934690933204034e-10,-1.681409329152329e-09,1.6624679715985735e-09,7.916958168491147e-11,-7.242450742642099e-17,9.855169561793117e-18,5.563072075730914e-15,-7.016226531249401e-16,-2.4277600632858753e-15,-8.47684678282507e-09],"joint_position_rad":[-1.985510323569719,-1.5821556794153584,1.3167354078238296,-1.3053760552033893,-1.5707963267949094,-0.4147139967748238],"joint_velocity_rad_s":[1.1995913591484315e-12,6.923924172838923e-14,2.501872302493847e-13,2.6055506261796568e-12,6.1241786329699966e-12,2.597050947456389e-14],"linkage_position_rad":[0.002933611171358452,0.00015630156190771168,0.0031934794680183037,-0.0034292989424743736,0.0029336110747495018,0.000156301108398899,0.0031978493866405885,-0.0034379968900989425],"tcp_position_m":[0.06812348610726002,0.48730461895029337,0.43500000000000294],"tcp_quaternion_wxyz":[2.1509752935486842e-15,0.7071067811865465,0.7071067811865478,1.2137876987171187e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,4.34007081641241e-18,5.962568427941234e-17,-2.572991527944312e-07],"object_linear_velocity_m_s":[-7.242450742642099e-17,9.855169561793117e-18,5.563072075730914e-15],"object_angular_velocity_rad_s":[-7.01623903456939e-16,-2.4277597021581494e-15,-8.476846782825085e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221284529,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737348,-1.3102027488896746,-1.5707950793627241,-0.4147139967748199,0.0],"actuator_force":[-4.770299710799009e-10,-19.80784387787753,-20.28858510028931,-2.4133468434032466,0.0006237154801738143,-6.536993168992922e-13,-0.2933611130963429],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.316735407823818,-1.3053760552033713,-1.5707963267948966,-0.41471399677481996],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.11999999999794,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.316735407823818,-1.3053760552033713,-1.5707963267948966,-0.41471399677481996],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.139999999997965,"qpos":[-1.9855103235697207,-1.5821556794153584,1.3167354078238278,-1.3053760552033933,-1.5707963267949212,-0.4147139967748237,0.002933611170619899,0.0001563015565523285,0.0031934794726019657,-0.0034292989417136384,0.002933611075142641,0.00015630111190022226,0.0031978493835769033,-0.003437996890523925,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999678,-7.153969748541411e-18,5.644480413722964e-17,-2.5778089498381033e-07],"qvel":[-1.7333113351301936e-12,6.038072251979735e-14,-8.45435823970411e-13,-1.704927898461755e-12,-3.0397951549808524e-12,1.7922212749376748e-14,-7.321511611794325e-10,-3.6220766155197683e-09,3.604430149933106e-09,2.550617983650118e-10,6.884435179057072e-10,2.33836955740885e-09,-2.2238594144535465e-09,-2.076520901014508e-10,-7.133526447715958e-17,-6.238436653820371e-18,5.4062530735026095e-15,-1.774491756350071e-16,-2.205405429553921e-15,-1.5476581555017458e-08],"joint_position_rad":[-1.9855103235697207,-1.5821556794153584,1.3167354078238278,-1.3053760552033933,-1.5707963267949212,-0.4147139967748237],"joint_velocity_rad_s":[-1.7333113351301936e-12,6.038072251979735e-14,-8.45435823970411e-13,-1.704927898461755e-12,-3.0397951549808524e-12,1.7922212749376748e-14],"linkage_position_rad":[0.002933611170619899,0.0001563015565523285,0.0031934794726019657,-0.0034292989417136384,0.002933611075142641,0.00015630111190022226,0.0031978493835769033,-0.003437996890523925],"tcp_position_m":[0.06812348610726422,0.48730461895029326,0.4350000000000044],"tcp_quaternion_wxyz":[6.572379662271745e-15,0.7071067811865475,0.7071067811865468,1.7206366755018546e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999678,-7.153969748541411e-18,5.644480413722964e-17,-2.5778089498381033e-07],"object_linear_velocity_m_s":[-7.133526447715958e-17,-6.238436653820371e-18,5.4062530735026095e-15],"object_angular_velocity_rad_s":[-1.7745031440490004e-16,-2.205405338289055e-15,-1.5476581555017487e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221271304,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.306591115273735,-1.3102027488896748,-1.570795079362724,-0.41471399677481996,0.0],"actuator_force":[6.998561730142683e-10,-19.807843877874348,-20.28858509984684,-2.4133468429702134,0.0006237164026288156,5.684341886080802e-14,-0.29336111206958876],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482135],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.139999999997965,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482135],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.15999999999799,"qpos":[-1.9855103235697142,-1.5821556794153584,1.3167354078238283,-1.3053760552033817,-1.570796326794898,-0.4147139967748237,0.0029336111748230905,0.00015630157714636552,0.003193479452189477,-0.0034292989424358597,0.002933611071532778,0.0001563010986343353,0.003197849396291899,-0.0034379968896669864,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,-9.928250816751654e-18,6.678648089326296e-17,-2.582059768974626e-07],"qvel":[1.2384069116504318e-12,8.822303710209947e-14,4.325344709866626e-13,1.4188316050509202e-12,2.5004357717826032e-12,1.1981614877512303e-14,9.573381071534432e-10,4.2429987925193036e-09,-4.302378604065537e-09,-1.5285579255186288e-10,-9.069706608966778e-10,-2.751270613664486e-09,2.6418878260337504e-09,2.1577129049285396e-10,-9.246869871045438e-17,-1.5136706881640837e-17,6.0279779672926966e-15,-3.698933813833916e-17,-4.550960157325163e-16,-2.8256329595863125e-08],"joint_position_rad":[-1.9855103235697142,-1.5821556794153584,1.3167354078238283,-1.3053760552033817,-1.570796326794898,-0.4147139967748237],"joint_velocity_rad_s":[1.2384069116504318e-12,8.822303710209947e-14,4.325344709866626e-13,1.4188316050509202e-12,2.5004357717826032e-12,1.1981614877512303e-14],"linkage_position_rad":[0.0029336111748230905,0.00015630157714636552,0.003193479452189477,-0.0034292989424358597,0.002933611071532778,0.0001563010986343353,0.003197849396291899,-0.0034379968896669864],"tcp_position_m":[0.06812348610725462,0.48730461895029364,0.435000000000003],"tcp_quaternion_wxyz":[-2.1644605941708184e-15,0.707106781186545,0.7071067811865495,7.397400305252416e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,-9.928250816751654e-18,6.678648089326296e-17,-2.582059768974626e-07],"object_linear_velocity_m_s":[-9.246869871045438e-17,-1.5136706881640837e-17,6.0279779672926966e-15],"object_angular_velocity_rad_s":[-3.698957692963866e-17,-4.550959971917901e-16,-2.8256329595863125e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221331844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.306591115273734,-1.3102027488896735,-1.5707950793627246,-0.41471399677482135,0.0],"actuator_force":[-5.020410753786564e-10,-19.80784387788526,-20.28858510036116,-2.4133468432877407,0.0006237158365820505,-2.842170943040401e-14,-0.2933611125696306],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.15999999999799,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.179999999998014,"qpos":[-1.9855103235697167,-1.5821556794153584,1.3167354078238258,-1.3053760552033846,-1.5707963267949046,-0.4147139967748237,0.0029336111726585806,0.00015630156663450363,0.003193479462413695,-0.003429298941780258,0.0029336110735484868,0.00015630110543277484,0.0031978493900675655,-0.003437996890365969,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,-1.7617562908628875e-17,6.086113967593197e-17,-2.5860892281618545e-07],"qvel":[1.5874472557189332e-12,7.970326635499753e-14,4.973671889943294e-13,2.580541213624993e-12,5.544426062091403e-12,2.0248277292425127e-14,6.667192112566813e-10,3.6616314999315367e-09,-3.5185076685054925e-09,-2.958205300935111e-10,-5.338211893926039e-10,-2.377128257246736e-09,2.2605472793842024e-09,2.0222125718320657e-10,-9.264190005865842e-17,-3.6029811096228336e-17,6.294431493202731e-15,-1.4129772665918135e-15,-2.8907251587853933e-16,-5.1588922230121787e-08],"joint_position_rad":[-1.9855103235697167,-1.5821556794153584,1.3167354078238258,-1.3053760552033846,-1.5707963267949046,-0.4147139967748237],"joint_velocity_rad_s":[1.5874472557189332e-12,7.970326635499753e-14,4.973671889943294e-13,2.580541213624993e-12,5.544426062091403e-12,2.0248277292425127e-14],"linkage_position_rad":[0.0029336111726585806,0.00015630156663450363,0.003193479462413695,-0.003429298941780258,0.0029336110735484868,0.00015630110543277484,0.0031978493900675655,-0.003437996890365969],"tcp_position_m":[0.0681234861072577,0.48730461895029364,0.4350000000000045],"tcp_quaternion_wxyz":[-7.264329244500395e-17,0.7071067811865457,0.7071067811865486,1.094039765109521e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,-1.7617562908628875e-17,6.086113967593197e-17,-2.5860892281618545e-07],"object_linear_velocity_m_s":[-9.264190005865842e-17,-3.6029811096228336e-17,6.294431493202731e-15],"object_angular_velocity_rad_s":[-1.4129774223846106e-15,-2.8907178687918353e-16,-5.15889222301218e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221300286,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737342,-1.310202748889674,-1.5707950793627241,-0.41471399677482057,0.0],"actuator_force":[-6.366462912410498e-10,-19.807843877881623,-20.28858510038208,-2.413346843402792,0.0006237155357666779,-4.547473508864641e-13,-0.29336111297484346],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.179999999998014,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.199999999998038,"qpos":[-1.9855103235697196,-1.5821556794153582,1.3167354078238238,-1.3053760552033888,-1.5707963267949163,-0.4147139967748237,0.0029336111705578886,0.00015630155659867844,0.003193479472600117,-0.0034292989417831297,0.002933611075345602,0.0001563011117869239,0.003197849383828172,-0.0034379968905810013,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,-1.993073434203853e-17,4.960759458472809e-17,-2.589537424202543e-07],"qvel":[2.914988101019578e-13,6.350457524755359e-14,-1.432090387858965e-13,1.7670710095817076e-12,4.810809199242285e-12,2.1523164758985825e-14,-5.272760706309551e-11,2.499791159211205e-10,-6.951537413327181e-11,-9.992427969804033e-11,1.99764038223793e-10,-1.7980376009065637e-10,2.1145916367100077e-10,-1.6757165048348174e-11,-1.0346433057389879e-16,-4.687169141455766e-17,6.4595771681157226e-15,-1.3953289609324808e-15,1.6405171855795868e-15,-9.418834416680793e-08],"joint_position_rad":[-1.9855103235697196,-1.5821556794153582,1.3167354078238238,-1.3053760552033888,-1.5707963267949163,-0.4147139967748237],"joint_velocity_rad_s":[2.914988101019578e-13,6.350457524755359e-14,-1.432090387858965e-13,1.7670710095817076e-12,4.810809199242285e-12,2.1523164758985825e-14],"linkage_position_rad":[0.0029336111705578886,0.00015630155659867844,0.003193479472600117,-0.0034292989417831297,0.002933611075345602,0.0001563011117869239,0.003197849383828172,-0.0034379968905810013],"tcp_position_m":[0.06812348610726245,0.48730461895029376,0.4350000000000058],"tcp_quaternion_wxyz":[4.3838458510629195e-15,0.707106781186547,0.7071067811865477,1.5919480627387385e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,-1.993073434203853e-17,4.960759458472809e-17,-2.589537424202543e-07],"object_linear_velocity_m_s":[-1.0346433057389879e-16,-4.687169141455766e-17,6.4595771681157226e-15],"object_angular_velocity_rad_s":[-1.3953281206410801e-15,1.6405179044761968e-15,-9.418834416680797e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221269777,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.306591115273734,-1.3102027488896737,-1.5707950793627241,-0.41471399677482074,0.0],"actuator_force":[-1.1232259566895664e-10,-19.807843877876167,-20.28858510012242,-2.4133468433191183,0.000623715614892717,-6.821210263296962e-13,-0.29336111303035667],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033709,-1.5707963267948968,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.199999999998038,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033709,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.219999999998063,"qpos":[-1.9855103235697187,-1.5821556794153582,1.3167354078238236,-1.30537605520339,-1.5707963267949225,-0.4147139967748237,0.002933611172775417,0.00015630156558606094,0.0031934794630976383,-0.003429298941386151,0.002933611072941362,0.00015630110615978603,0.0031978493889758966,-0.0034379968902432923,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,-1.920409503963653e-17,4.1463941165806736e-17,-2.593110212453292e-07],"qvel":[-5.6055729913883996e-12,1.5477143755183806e-14,-1.647429091487014e-12,-1.0629279400748232e-11,-2.4812229666612626e-11,-9.838178799650175e-15,-1.9677506196982005e-09,-1.1298531189479346e-08,1.0600373499475884e-08,1.1152707908852113e-09,1.3234466561921349e-09,7.400910074192588e-09,-7.1809206956792836e-09,-5.741689867567037e-10,-5.14007929447212e-17,-2.3202625427392083e-17,6.603906161316994e-15,5.619072205438261e-16,-1.7706336839795438e-15,-1.0204535766352685e-08],"joint_position_rad":[-1.9855103235697187,-1.5821556794153582,1.3167354078238236,-1.30537605520339,-1.5707963267949225,-0.4147139967748237],"joint_velocity_rad_s":[-5.6055729913883996e-12,1.5477143755183806e-14,-1.647429091487014e-12,-1.0629279400748232e-11,-2.4812229666612626e-11,-9.838178799650175e-15],"linkage_position_rad":[0.002933611172775417,0.00015630156558606094,0.0031934794630976383,-0.003429298941386151,0.002933611072941362,0.00015630110615978603,0.0031978493889758966,-0.0034379968902432923],"tcp_position_m":[0.0681234861072636,0.48730461895029326,0.435000000000006],"tcp_quaternion_wxyz":[7.032033036478409e-15,0.7071067811865466,0.7071067811865479,1.7698537808753542e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,-1.920409503963653e-17,4.1463941165806736e-17,-2.593110212453292e-07],"object_linear_velocity_m_s":[-5.14007929447212e-17,-2.3202625427392083e-17,6.603906161316994e-15],"object_angular_velocity_rad_s":[5.619063014078525e-16,-1.7706339757887146e-15,-1.0204535766352692e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322130171,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.3065911152737353,-1.3102027488896746,-1.5707950793627246,-0.41471399677482096,0.0],"actuator_force":[2.2441781766247004e-09,-19.807843877857977,-20.288585099517604,-2.4133468420793633,0.0006237185801865053,2.3590018827235326e-12,-0.2933611090643191],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748212],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.219999999998063,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748212],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.239999999998087,"qpos":[-1.9855103235697142,-1.5821556794153582,1.3167354078238238,-1.30537605520338,-1.5707963267949008,-0.4147139967748237,0.0029336111734043083,0.00015630157052441056,0.0031934794586811186,-0.0034292989421390065,0.0029336110729003117,0.0001563011028824522,0.0031978493924445083,-0.003437996890108773,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,-3.0354107336301566e-17,4.0846278047338806e-17,-2.5976823589152754e-07],"qvel":[1.5779395766676212e-12,8.411890143707178e-14,5.6777478564754e-13,2.1176732886169573e-12,4.198004139908029e-12,1.4847404672527592e-14,8.55865912241869e-10,4.278483057459311e-09,-4.194296932242272e-09,-2.908669648142103e-10,-7.620374829676604e-10,-2.7700709098963463e-09,2.6173901025318748e-09,2.522742917607149e-10,-5.276670150243784e-17,-3.763906063286176e-17,6.678846215479194e-15,3.786100663063996e-16,-1.3222861363847764e-15,-1.8630905343133817e-08],"joint_position_rad":[-1.9855103235697142,-1.5821556794153582,1.3167354078238238,-1.30537605520338,-1.5707963267949008,-0.4147139967748237],"joint_velocity_rad_s":[1.5779395766676212e-12,8.411890143707178e-14,5.6777478564754e-13,2.1176732886169573e-12,4.198004139908029e-12,1.4847404672527592e-14],"linkage_position_rad":[0.0029336111734043083,0.00015630157052441056,0.0031934794586811186,-0.0034292989421390065,0.0029336110729003117,0.0001563011028824522,0.0031978493924445083,-0.003437996890108773],"tcp_position_m":[0.06812348610725544,0.48730461895029353,0.43500000000000505],"tcp_quaternion_wxyz":[-1.1462172803079338e-15,0.7071067811865451,0.7071067811865496,8.938237451899548e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,-3.0354107336301566e-17,4.0846278047338806e-17,-2.5976823589152754e-07],"object_linear_velocity_m_s":[-5.276670150243784e-17,-3.763906063286176e-17,6.678846215479194e-15],"object_angular_velocity_rad_s":[3.7860937780846825e-16,-1.3222863342173858e-15,-1.8630905343133834e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221311398,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.592059601354284,1.306591115273735,-1.3102027488896744,-1.5707950793627243,-0.4147139967748212,0.0],"actuator_force":[-6.380105332937092e-10,-19.80784387788526,-20.28858510040436,-2.4133468433590224,0.0006237156683255307,-2.2737367544323206e-13,-0.29336111278437316],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.239999999998087,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.25999999999811,"qpos":[-1.985510323569717,-1.582155679415358,1.316735407823822,-1.3053760552033837,-1.5707963267949108,-0.4147139967748237,0.0029336111708354183,0.00015630155874229768,0.003193479470744395,-0.0034292989421269545,0.002933611075244867,0.0001563011103654055,0.0031978493851681,-0.0034379968904420127,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,-4.6113673816092395e-18,2.3602830464852703e-17,-2.6021925342671643e-07],"qvel":[1.3353124838574764e-12,6.91770004051417e-14,3.4050398262563997e-13,2.8347889899824107e-12,6.685889554730373e-12,2.2466025393732365e-14,4.074686446879448e-10,2.6266167742953045e-09,-2.4158849507891233e-09,-2.70892664404218e-10,-2.31172366890489e-10,-1.7055762992285127e-09,1.641031052192646e-09,1.271729496933475e-10,-2.969988576386297e-17,-2.4140779405074005e-18,6.154265836343809e-15,2.2377366491977696e-15,-1.3951197051599945e-15,-3.401532826699873e-08],"joint_position_rad":[-1.985510323569717,-1.582155679415358,1.316735407823822,-1.3053760552033837,-1.5707963267949108,-0.4147139967748237],"joint_velocity_rad_s":[1.3353124838574764e-12,6.91770004051417e-14,3.4050398262563997e-13,2.8347889899824107e-12,6.685889554730373e-12,2.2466025393732365e-14],"linkage_position_rad":[0.0029336111708354183,0.00015630155874229768,0.003193479470744395,-0.0034292989421269545,0.002933611075244867,0.0001563011103654055,0.0031978493851681,-0.0034379968904420127],"tcp_position_m":[0.06812348610725938,0.48730461895029353,0.43500000000000605],"tcp_quaternion_wxyz":[2.4512439359995933e-15,0.7071067811865461,0.7071067811865486,1.3418297936133947e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,-4.6113673816092395e-18,2.3602830464852703e-17,-2.6021925342671643e-07],"object_linear_velocity_m_s":[-2.969988576386297e-17,-2.4140779405074005e-18,6.154265836343809e-15],"object_angular_velocity_rad_s":[2.2377359215177367e-15,-1.3951208700778416e-15,-3.401532826699877e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221274584,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.5707950793627241,-0.4147139967748206,0.0],"actuator_force":[-5.352376319933683e-10,-19.807843877878895,-20.288585100311593,-2.4133468434285987,0.0006237154246946375,-7.105427357601002e-13,-0.2933611131854956],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.25999999999811,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.279999999998136,"qpos":[-1.9855103235697193,-1.582155679415358,1.3167354078238207,-1.3053760552033895,-1.5707963267949265,-0.4147139967748237,0.0029336111717811354,0.00015630156037856245,0.0031934794682416164,-0.0034292989410121136,0.002933611073891371,0.00015630110951001528,0.003197849385881186,-0.003437996890579952,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,1.5781143840403273e-18,1.4415388893789326e-17,-2.6058384653761636e-07],"qvel":[-2.021173171414181e-12,3.71714315461608e-14,-9.451448064210354e-13,-1.8406361249233714e-12,-2.9850076576034736e-12,1.5914942853355748e-14,-8.79440986629383e-10,-4.795369058549402e-09,4.651982690930318e-09,4.420964366536188e-10,8.373247596295262e-10,3.1010462101366834e-09,-2.8283776100653067e-09,-3.5663744838734474e-10,-2.2948612261129678e-17,5.040992146350394e-18,5.775402229190475e-15,-3.7456149605753297e-16,-7.403273778308926e-16,-6.210339947532678e-08],"joint_position_rad":[-1.9855103235697193,-1.582155679415358,1.3167354078238207,-1.3053760552033895,-1.5707963267949265,-0.4147139967748237],"joint_velocity_rad_s":[-2.021173171414181e-12,3.71714315461608e-14,-9.451448064210354e-13,-1.8406361249233714e-12,-2.9850076576034736e-12,1.5914942853355748e-14],"linkage_position_rad":[0.0029336111717811354,0.00015630156037856245,0.0031934794682416164,-0.0034292989410121136,0.002933611073891371,0.00015630110951001528,0.003197849385881186,-0.003437996890579952],"tcp_position_m":[0.06812348610726504,0.4873046189502932,0.43500000000000705],"tcp_quaternion_wxyz":[8.47603408422402e-15,0.7071067811865467,0.7071067811865478,1.960009733022675e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,1.5781143840403273e-18,1.4415388893789326e-17,-2.6058384653761636e-07],"object_linear_velocity_m_s":[-2.2948612261129678e-17,5.040992146350394e-18,5.775402229190475e-15],"object_angular_velocity_rad_s":[-3.7456188368268346e-16,-7.403271824254291e-16,-6.210339947532686e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221285334,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737348,-1.3102027488896744,-1.5707950793627241,-0.4147139967748206,0.0],"actuator_force":[8.117240213323385e-10,-19.807843877866617,-20.288585099793636,-2.41334684295839,0.0006237163996729578,-5.684341886080802e-14,-0.2933611120730442],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.279999999998136,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.29999999999816,"qpos":[-1.9855103235697118,-1.582155679415358,1.3167354078238223,-1.3053760552033762,-1.5707963267948988,-0.4147139967748237,0.002933611174273148,0.00015630157464327014,0.0031934794546545162,-0.0034292989424622635,0.0029336110720929102,0.00015630110019373167,0.003197849394966575,-0.003437996889817945,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,1.5724282408618458e-18,6.895268379559663e-18,-2.6087274788965844e-07],"qvel":[1.3633657310517893e-12,9.010043969400613e-14,5.25475423217794e-13,1.5447353036748238e-12,2.773534770867718e-12,1.439249453404026e-14,9.760899925019532e-10,4.491598862721745e-09,-4.4774621028986355e-09,-2.446451234479494e-10,-9.183719554181283e-10,-2.9050399987272823e-09,2.7431334713738065e-09,2.68384321657785e-10,5.179791938996333e-17,1.732778235969577e-17,5.7309933082054675e-15,2.3205992042238824e-15,-5.804174800237861e-15,-1.1338512438035316e-07],"joint_position_rad":[-1.9855103235697118,-1.582155679415358,1.3167354078238223,-1.3053760552033762,-1.5707963267948988,-0.4147139967748237],"joint_velocity_rad_s":[1.3633657310517893e-12,9.010043969400613e-14,5.25475423217794e-13,1.5447353036748238e-12,2.773534770867718e-12,1.439249453404026e-14],"linkage_position_rad":[0.002933611174273148,0.00015630157464327014,0.0031934794546545162,-0.0034292989424622635,0.0029336110720929102,0.00015630110019373167,0.003197849394966575,-0.003437996889817945],"tcp_position_m":[0.0681234861072533,0.48730461895029326,0.43500000000000505],"tcp_quaternion_wxyz":[-1.8131567529240647e-15,0.707106781186544,0.7071067811865505,7.480672598168275e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,1.5724282408618458e-18,6.895268379559663e-18,-2.6087274788965844e-07],"object_linear_velocity_m_s":[5.179791938996333e-17,1.732778235969577e-17,5.7309933082054675e-15],"object_angular_velocity_rad_s":[2.3205961743578694e-15,-5.804176010642681e-15,-1.1338512438035331e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221323437,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737344,-1.3102027488896737,-1.5707950793627243,-0.4147139967748209,0.0],"actuator_force":[-5.570655048359185e-10,-19.807843877887535,-20.288585100385717,-2.413346843303316,0.0006237158097519568,-5.684341886080802e-14,-0.29336111260689307],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948963,-0.4147139967748211],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.29999999999816,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948963,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.319999999998185,"qpos":[-1.9855103235697145,-1.582155679415358,1.3167354078238207,-1.305376055203379,-1.5707963267949059,-0.4147139967748237,0.0029336111714258458,0.0001563015622572289,0.003193479467487525,-0.0034292989425392024,0.0029336110748029508,0.00015630110806214673,0.003197849387317106,-0.003437996890205184,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,9.79518709012402e-18,-1.2844129557543894e-17,-2.613028446747538e-07],"qvel":[1.7296154592505002e-12,7.751528844187939e-14,5.878041581440627e-13,2.7891658415290727e-12,6.060989941583323e-12,1.7762904371785893e-14,7.183628468126284e-10,3.983359157362931e-09,-3.809755102007277e-09,-3.3355306531317095e-10,-5.710426884105326e-10,-2.569749594881446e-09,2.4324912657276463e-09,2.2437045827409254e-10,1.400866397901068e-17,8.852510292676601e-18,5.538092057676847e-15,1.1803115951948503e-16,8.936349417792619e-17,-1.2284349696843054e-08],"joint_position_rad":[-1.9855103235697145,-1.582155679415358,1.3167354078238207,-1.305376055203379,-1.5707963267949059,-0.4147139967748237],"joint_velocity_rad_s":[1.7296154592505002e-12,7.751528844187939e-14,5.878041581440627e-13,2.7891658415290727e-12,6.060989941583323e-12,1.7762904371785893e-14],"linkage_position_rad":[0.0029336111714258458,0.0001563015622572289,0.003193479467487525,-0.0034292989425392024,0.0029336110748029508,0.00015630110806214673,0.003197849387317106,-0.003437996890205184],"tcp_position_m":[0.06812348610725667,0.48730461895029314,0.4350000000000061],"tcp_quaternion_wxyz":[7.89057404257997e-16,0.707106781186545,0.7071067811865495,1.0808476777408828e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,9.79518709012402e-18,-1.2844129557543894e-17,-2.613028446747538e-07],"object_linear_velocity_m_s":[1.400866397901068e-17,8.852510292676601e-18,5.538092057676847e-15],"object_angular_velocity_rad_s":[1.180312065369032e-16,8.936343273481357e-17,-1.2284349696843075e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283978,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.306591115273735,-1.3102027488896744,-1.5707950793627237,-0.4147139967748211,0.0],"actuator_force":[-6.97582436259836e-10,-19.807843877882988,-20.28858510040618,-2.4133468434265524,0.0006237154849486615,-4.831690603168681e-13,-0.2933611130480406],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.319999999998185,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.33999999999821,"qpos":[-1.9855103235697187,-1.582155679415358,1.3167354078238187,-1.305376055203386,-1.5707963267949219,-0.4147139967748237,0.002933611171483831,0.00015630155931665673,0.0031934794694414605,-0.0034292989410329134,0.0029336110743437825,0.00015630111015378927,0.003197849385378662,-0.003437996890713821,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999667,1.3188800784214502e-17,5.173081318602771e-18,-2.6179082052149206e-07],"qvel":[1.862337424727076e-13,4.481610766356007e-14,-1.820559568424566e-13,1.8589677959270205e-12,5.3022183122013864e-12,2.3128135203064232e-14,-1.761195145253963e-10,-6.078440605349427e-10,6.839343355570136e-10,4.9132724618819236e-11,3.334834194684963e-10,3.7529177171640916e-10,-2.0863793344151104e-10,-1.456638435972576e-10,-6.765752679849313e-18,1.6109376600988184e-17,5.392375285694795e-15,-3.901461644814741e-16,6.799619610360276e-16,-2.242812036177805e-08],"joint_position_rad":[-1.9855103235697187,-1.582155679415358,1.3167354078238187,-1.305376055203386,-1.5707963267949219,-0.4147139967748237],"joint_velocity_rad_s":[1.862337424727076e-13,4.481610766356007e-14,-1.820559568424566e-13,1.8589677959270205e-12,5.3022183122013864e-12,2.3128135203064232e-14],"linkage_position_rad":[0.002933611171483831,0.00015630155931665673,0.0031934794694414605,-0.0034292989410329134,0.0029336110743437825,0.00015630111015378927,0.003197849385378662,-0.003437996890713821],"tcp_position_m":[0.06812348610726336,0.4873046189502931,0.43500000000000755],"tcp_quaternion_wxyz":[6.6417769504142815e-15,0.7071067811865466,0.7071067811865479,1.7955367121813715e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999667,1.3188800784214502e-17,5.173081318602771e-18,-2.6179082052149206e-07],"object_linear_velocity_m_s":[-6.765752679849313e-18,1.6109376600988184e-17,5.392375285694795e-15],"object_angular_velocity_rad_s":[-3.9014580869786685e-16,6.799621659009049e-16,-2.2428120361778098e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"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":[-1.9855103235697171,-1.5920596013542834,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[-7.185008144006133e-11,-19.807843877868436,-20.288585100096043,-2.413346843329805,0.000623715568622174,-7.958078640513122e-13,-0.2933611130782002],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.33999999999821,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.359999999998234,"qpos":[-1.9855103235697176,-1.582155679415358,1.3167354078238191,-1.305376055203386,-1.5707963267949252,-0.4147139967748237,0.0029336111719912177,0.00015630156191272384,0.003193479466721841,-0.003429298941411686,0.002933611073672821,0.00015630110847004875,0.0031978493868998117,-0.0034379968903739695,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,2.3625473708955484e-17,1.006588805891595e-17,-2.6220986214787575e-07],"qvel":[-6.037623955033748e-12,1.2374123186621124e-14,-1.7667650609451508e-12,-1.1505793523402483e-11,-2.67811272120907e-11,-9.495320764412466e-15,-2.1812783682721096e-09,-1.2401983005240868e-08,1.1672557863212675e-08,1.1304311761185872e-09,1.476143783186379e-09,8.070670609893824e-09,-7.83545886107247e-09,-5.791232548862606e-10,-1.2223109924954603e-17,3.6631538015094744e-17,5.504785366938092e-15,1.2994308934688432e-15,2.9168528086637223e-16,-4.094808397482202e-08],"joint_position_rad":[-1.9855103235697176,-1.582155679415358,1.3167354078238191,-1.305376055203386,-1.5707963267949252,-0.4147139967748237],"joint_velocity_rad_s":[-6.037623955033748e-12,1.2374123186621124e-14,-1.7667650609451508e-12,-1.1505793523402483e-11,-2.67811272120907e-11,-9.495320764412466e-15],"linkage_position_rad":[0.0029336111719912177,0.00015630156191272384,0.003193479466721841,-0.003429298941411686,0.002933611073672821,0.00015630110847004875,0.0031978493868998117,-0.0034379968903739695],"tcp_position_m":[0.06812348610726361,0.48730461895029287,0.43500000000000727],"tcp_quaternion_wxyz":[8.274585200838651e-15,0.7071067811865462,0.7071067811865485,1.824801763058362e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,2.3625473708955484e-17,1.006588805891595e-17,-2.6220986214787575e-07],"object_linear_velocity_m_s":[-1.2223109924954603e-17,3.6631538015094744e-17,5.504785366938092e-15],"object_angular_velocity_rad_s":[1.299431045609822e-15,2.916846013539772e-16,-4.0948083974822016e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221289987,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737346,-1.3102027488896741,-1.5707950793627243,-0.41471399677482046,0.0],"actuator_force":[2.4156179279088974e-09,-19.807843877856158,-20.288585099462125,-2.41334684199353,0.0006237187784563503,2.5295321393059567e-12,-0.293361108757529],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.359999999998234,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.379999999998258,"qpos":[-1.9855103235697127,-1.5821556794153577,1.3167354078238198,-1.305376055203375,-1.5707963267949003,-0.4147139967748237,0.0029336111722297136,0.00015630156649810157,0.003193479463426798,-0.0034292989429396655,0.0029336110741047935,0.00015630110532874547,0.00319784938985429,-0.0034379968899048174,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,3.867355258691807e-17,1.735568434573804e-17,-2.6258747567986827e-07],"qvel":[1.7213093866342823e-12,9.134361208054609e-14,6.439571642585527e-13,2.2956678658088655e-12,4.584689304021736e-12,1.6045519701529848e-14,9.253119890738179e-10,4.6588633915680575e-09,-4.551465605493477e-09,-3.257667923031906e-10,-8.213219111924742e-10,-2.9999786299379785e-09,2.8229985000169032e-09,2.7787604353618085e-10,-4.974400669069228e-17,9.6877473493725e-17,6.157041393905371e-15,4.579994251930903e-15,2.8302991964609156e-15,-7.47608606589471e-08],"joint_position_rad":[-1.9855103235697127,-1.5821556794153577,1.3167354078238198,-1.305376055203375,-1.5707963267949003,-0.4147139967748237],"joint_velocity_rad_s":[1.7213093866342823e-12,9.134361208054609e-14,6.439571642585527e-13,2.2956678658088655e-12,4.584689304021736e-12,1.6045519701529848e-14],"linkage_position_rad":[0.0029336111722297136,0.00015630156649810157,0.003193479463426798,-0.0034292989429396655,0.0029336110741047935,0.00015630110532874547,0.00319784938985429,-0.0034379968899048174],"tcp_position_m":[0.06812348610725424,0.4873046189502932,0.4350000000000061],"tcp_quaternion_wxyz":[-1.3203855658896363e-15,0.7071067811865445,0.70710678118655,8.431002258930301e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,3.867355258691807e-17,1.735568434573804e-17,-2.6258747567986827e-07],"object_linear_velocity_m_s":[-4.974400669069228e-17,9.6877473493725e-17,6.157041393905371e-15],"object_angular_velocity_rad_s":[4.5799957357374645e-15,2.830296796944804e-15,-7.476086065894711e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221296404,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.3065911152737337,-1.3102027488896733,-1.570795079362724,-0.41471399677482096,0.0],"actuator_force":[-6.984919309616089e-10,-19.80784387788708,-20.288585100429373,-2.41334684337869,0.0006237156296720059,-2.2737367544323206e-13,-0.29336111283667576],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748208],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.379999999998258,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.399999999998283,"qpos":[-1.9855103235697174,-1.5821556794153577,1.3167354078238174,-1.3053760552033817,-1.5707963267949137,-0.4147139967748237,0.0029336111716548197,0.0001563015608560118,0.0031934794681215206,-0.0034292989412590203,0.002933611074359038,0.000156301109138842,0.0031978493864160446,-0.003437996890671573,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,4.454592683963439e-17,2.166813404698874e-17,-2.62871061432374e-07],"qvel":[1.355472130092147e-12,5.31122603592087e-14,3.5285073675149573e-13,3.025457267748689e-12,7.29630786829701e-12,2.266690510847837e-14,2.9401016381606064e-10,1.986799389471176e-09,-1.8469312835828924e-09,-1.6594973879253503e-10,-1.0567662348574435e-10,-1.2978320250322324e-09,1.3369558986383878e-09,2.4023985975904777e-11,-2.5224091969198645e-17,5.0152574532228814e-17,6.3568815383379e-15,-1.2637112921342509e-15,-7.736143310328291e-16,-8.099727023191339e-09],"joint_position_rad":[-1.9855103235697174,-1.5821556794153577,1.3167354078238174,-1.3053760552033817,-1.5707963267949137,-0.4147139967748237],"joint_velocity_rad_s":[1.355472130092147e-12,5.31122603592087e-14,3.5285073675149573e-13,3.025457267748689e-12,7.29630786829701e-12,2.266690510847837e-14],"linkage_position_rad":[0.0029336111716548197,0.0001563015608560118,0.0031934794681215206,-0.0034292989412590203,0.002933611074359038,0.000156301109138842,0.0031978493864160446,-0.003437996890671573],"tcp_position_m":[0.06812348610726046,0.4873046189502933,0.4350000000000078],"tcp_quaternion_wxyz":[3.3432091987965437e-15,0.7071067811865459,0.7071067811865483,1.500333554146106e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,4.454592683963439e-17,2.166813404698874e-17,-2.62871061432374e-07],"object_linear_velocity_m_s":[-2.5224091969198645e-17,5.0152574532228814e-17,6.3568815383379e-15],"object_angular_velocity_rad_s":[-1.263711699206729e-15,-7.736136659248452e-16,-8.09972702319134e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283233,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737348,-1.3102027488896744,-1.570795079362724,-0.4147139967748208,0.0],"actuator_force":[-5.425135896075517e-10,-19.807843877872983,-20.288585100306136,-2.413346843448835,0.0006237153652364213,-8.242295734817162e-13,-0.2933611132423606],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.41471399677482046],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.399999999998283,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.419999999998307,"qpos":[-1.9855103235697198,-1.5821556794153577,1.3167354078238171,-1.305376055203387,-1.5707963267949274,-0.4147139967748237,0.0029336111708735896,0.00015630155616475042,0.0031934794724350793,-0.003429298941074518,0.0029336110747436835,0.00015630111214755485,0.0031978493834767413,-0.003437996890707126,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,7.801631367530513e-17,3.029563188608618e-17,-2.633313717729397e-07],"qvel":[-2.1544627913381145e-12,3.7675675102712226e-14,-9.98759723237632e-13,-1.979837420038768e-12,-3.177353487629673e-12,1.6577096977639415e-14,-9.966060810362338e-10,-5.312530313331727e-09,5.203541846472712e-09,4.038223699760234e-10,9.527814347427522e-10,3.408041638120695e-09,-3.1310573679981843e-09,-3.510981779149667e-10,-3.7722207023083986e-17,9.211165436050936e-17,6.516476098127768e-15,-1.367504213185407e-15,-7.401074620142932e-16,-1.4788056108527509e-08],"joint_position_rad":[-1.9855103235697198,-1.5821556794153577,1.3167354078238171,-1.305376055203387,-1.5707963267949274,-0.4147139967748237],"joint_velocity_rad_s":[-2.1544627913381145e-12,3.7675675102712226e-14,-9.98759723237632e-13,-1.979837420038768e-12,-3.177353487629673e-12,1.6577096977639415e-14],"linkage_position_rad":[0.0029336111708735896,0.00015630155616475042,0.0031934794724350793,-0.003429298941074518,0.0029336110747436835,0.00015630111214755485,0.0031978493834767413,-0.003437996890707126],"tcp_position_m":[0.06812348610726542,0.487304618950293,0.4350000000000087],"tcp_quaternion_wxyz":[8.75211177140761e-15,0.7071067811865468,0.7071067811865475,2.022271118867542e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,7.801631367530513e-17,3.029563188608618e-17,-2.633313717729397e-07],"object_linear_velocity_m_s":[-3.7722207023083986e-17,9.211165436050936e-17,6.516476098127768e-15],"object_angular_velocity_rad_s":[-1.367504603868271e-15,-7.4010673949325065e-16,-1.4788056108527515e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221271819,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542831,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.41471399677482046,0.0],"actuator_force":[8.662937034387141e-10,-19.807843877865707,-20.28858509976635,-2.4133468429454297,0.0006237164193407807,-5.684341886080802e-14,-0.2933611120617404],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415343,1.3167354078238165,-1.3053760552033702,-1.5707963267948966,-0.41471399677482024],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.419999999998307,"joint_targets_rad":[-1.9855103235697174,-1.582155679415343,1.3167354078238165,-1.3053760552033702,-1.5707963267948966,-0.41471399677482024],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.43999999999833,"qpos":[-1.9855103235697111,-1.5821556794153575,1.3167354078238194,-1.3053760552033724,-1.5707963267948966,-0.4147139967748237,0.0029336111731676595,0.00015630157099382592,0.0031934794590390944,-0.003429298943292975,0.0029336110732333916,0.00015630110242799043,0.003197849392543657,-0.0034379968895866483,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,1.0405743212476095e-16,4.889384426292595e-17,-2.6379138645410506e-07],"qvel":[1.4950922726004637e-12,9.78778879327448e-14,5.92123618473772e-13,1.672467148600346e-12,3.0264872744368992e-12,1.739073362866507e-14,1.0569235091093083e-09,4.892153163500659e-09,-4.862783045440332e-09,-2.736573350514278e-10,-9.930091593294804e-10,-3.1485231947143787e-09,2.9630271773367056e-09,2.9581277553427636e-10,-6.546564126342571e-17,1.3548947780468732e-16,6.608069497659346e-15,-6.7769187718882645e-16,3.092283607949579e-16,-2.699925600490159e-08],"joint_position_rad":[-1.9855103235697111,-1.5821556794153575,1.3167354078238194,-1.3053760552033724,-1.5707963267948966,-0.4147139967748237],"joint_velocity_rad_s":[1.4950922726004637e-12,9.78778879327448e-14,5.92123618473772e-13,1.672467148600346e-12,3.0264872744368992e-12,1.739073362866507e-14],"linkage_position_rad":[0.0029336111731676595,0.00015630157099382592,0.0031934794590390944,-0.003429298943292975,0.0029336110732333916,0.00015630110242799043,0.003197849392543657,-0.0034379968895866483],"tcp_position_m":[0.06812348610725218,0.4873046189502933,0.4350000000000058],"tcp_quaternion_wxyz":[-2.604101681930339e-15,0.7071067811865437,0.7071067811865508,6.421696120831106e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,1.0405743212476095e-16,4.889384426292595e-17,-2.6379138645410506e-07],"object_linear_velocity_m_s":[-6.546564126342571e-17,1.3548947780468732e-16,6.608069497659346e-15],"object_angular_velocity_rad_s":[-6.7769171668537e-16,3.092287239524221e-16,-2.6999256004901606e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221309988,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354283,1.3065911152737335,-1.3102027488896737,-1.5707950793627241,-0.41471399677482024,0.0],"actuator_force":[-6.107256922405213e-10,-19.80784387788981,-20.288585100408454,-2.4133468433178678,0.0006237157834902973,-2.842170943040401e-14,-0.2933611126396243],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.4147139967748201],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.43999999999833,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.4147139967748201],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.459999999998356,"qpos":[-1.9855103235697154,-1.5821556794153575,1.3167354078238171,-1.3053760552033777,-1.570796326794907,-0.4147139967748237,0.0029336111721482336,0.00015630156392789553,0.003193479465240265,-0.003429298941591838,0.0029336110740233986,0.00015630110714176792,0.003197849388328287,-0.003437996890508498,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,8.585467558515365e-17,3.987032463155174e-17,-2.64176406029235e-07],"qvel":[1.821532919675104e-12,6.699236433448124e-14,6.229750965498417e-13,3.0111517376869767e-12,6.6402337375136004e-12,2.331091744764291e-14,6.134451961165874e-10,3.5012424705389738e-09,-3.372545560885479e-09,-2.652510825181741e-10,-4.557302210295097e-10,-2.2691939967066306e-09,2.2080790509908253e-09,1.453607491576851e-10,-5.165093061502285e-17,1.2149470449482575e-16,6.6899484457254515e-15,-1.82548974881708e-15,-1.1506109870991845e-15,-4.929382330365312e-08],"joint_position_rad":[-1.9855103235697154,-1.5821556794153575,1.3167354078238171,-1.3053760552033777,-1.570796326794907,-0.4147139967748237],"joint_velocity_rad_s":[1.821532919675104e-12,6.699236433448124e-14,6.229750965498417e-13,3.0111517376869767e-12,6.6402337375136004e-12,2.331091744764291e-14],"linkage_position_rad":[0.0029336111721482336,0.00015630156392789553,0.003193479465240265,-0.003429298941591838,0.0029336110740233986,0.00015630110714176792,0.003197849388328287,-0.003437996890508498],"tcp_position_m":[0.0681234861072575,0.4873046189502933,0.43500000000000727],"tcp_quaternion_wxyz":[9.151605441616942e-16,0.7071067811865456,0.7071067811865491,1.1882214544296048e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,8.585467558515365e-17,3.987032463155174e-17,-2.64176406029235e-07],"object_linear_velocity_m_s":[-5.165093061502285e-17,1.2149470449482575e-16,6.6899484457254515e-15],"object_angular_velocity_rad_s":[-1.8254903606760963e-15,-1.1506100141321713e-15,-4.929382330365316e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221291515,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737346,-1.3102027488896741,-1.570795079362724,-0.4147139967748201,0.0],"actuator_force":[-7.325979822780937e-10,-19.80784387787844,-20.288585100414366,-2.4133468434494034,0.0006237154274231216,-5.684341886080801e-13,-0.29336111309715646],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.459999999998356,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.47999999999838,"qpos":[-1.9855103235697198,-1.5821556794153575,1.3167354078238163,-1.3053760552033844,-1.5707963267949223,-0.4147139967748237,0.002933611170517024,0.00015630155496745333,0.0031934794738389823,-0.003429298941151436,0.00293361107527145,0.00015630111289694894,0.0031978493828583063,-0.0034379968908157237,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,7.124673736148363e-17,2.8898380380311205e-17,-2.6450588522553965e-07],"qvel":[2.3473722583988214e-13,4.227391937423324e-14,-1.6727051284718568e-13,2.0293406058229515e-12,5.789728389486637e-12,2.4559633919492628e-14,-2.3149581782360118e-10,-7.44188209015678e-10,8.852267568416817e-10,-1.700381939272726e-11,4.0620038553702087e-10,4.5026433842766945e-10,-2.95538112454933e-10,-1.266285419576478e-10,-6.162663422416438e-17,1.8340203411463526e-16,3.2093992635255876e-15,6.198796533097982e-15,1.155518488691325e-15,-8.999807311173033e-08],"joint_position_rad":[-1.9855103235697198,-1.5821556794153575,1.3167354078238163,-1.3053760552033844,-1.5707963267949223,-0.4147139967748237],"joint_velocity_rad_s":[2.3473722583988214e-13,4.227391937423324e-14,-1.6727051284718568e-13,2.0293406058229515e-12,5.789728389486637e-12,2.4559633919492628e-14],"linkage_position_rad":[0.002933611170517024,0.00015630155496745333,0.0031934794738389823,-0.003429298941151436,0.00293361107527145,0.00015630111289694894,0.0031978493828583063,-0.0034379968908157237],"tcp_position_m":[0.06812348610726403,0.4873046189502931,0.4350000000000085],"tcp_quaternion_wxyz":[6.695207116338912e-15,0.7071067811865471,0.7071067811865476,1.811981959020086e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,7.124673736148363e-17,2.8898380380311205e-17,-2.6450588522553965e-07],"object_linear_velocity_m_s":[-6.162663422416438e-17,1.8340203411463526e-16,3.2093992635255876e-15],"object_angular_velocity_rad_s":[6.1987971391784094e-15,1.1555152222789757e-15,-8.999807311173043e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221266247,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737346,-1.3102027488896744,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-8.913048077374697e-11,-19.807843877868436,-20.288585100096498,-2.4133468433479948,0.0006237155201915812,-8.526512829121202e-13,-0.2933611131629466],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.47999999999838,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.499999999998405,"qpos":[-1.985510323569718,-1.5821556794153575,1.316735407823817,-1.3053760552033846,-1.5707963267949265,-0.4147139967748237,0.0029336111706708716,0.00015630155709568167,0.003193479472227443,-0.003429298942142546,0.0029336110749574626,0.00015630111143662777,0.003197849383746393,-0.0034379968901872087,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,7.133577946368218e-17,2.4816153947195697e-17,-2.648472693543808e-07],"qvel":[-6.5793814495228596e-12,5.206603636086289e-15,-1.921592311433487e-12,-1.25686913207068e-11,-2.920470330584626e-11,-1.2365413083766842e-14,-2.3899032055184415e-09,-1.3559220036754745e-08,1.2775331798479535e-08,1.2291914741122382e-09,1.6145947034347407e-09,8.785195190312228e-09,-8.547291983561953e-09,-6.278269097052382e-10,-3.04268572521747e-17,8.597189139493983e-17,5.9918957189923866e-15,-2.613168535558983e-15,-1.0456094982435566e-15,-9.750554212364596e-09],"joint_position_rad":[-1.985510323569718,-1.5821556794153575,1.316735407823817,-1.3053760552033846,-1.5707963267949265,-0.4147139967748237],"joint_velocity_rad_s":[-6.5793814495228596e-12,5.206603636086289e-15,-1.921592311433487e-12,-1.25686913207068e-11,-2.920470330584626e-11,-1.2365413083766842e-14],"linkage_position_rad":[0.0029336111706708716,0.00015630155709568167,0.003193479472227443,-0.003429298942142546,0.0029336110749574626,0.00015630111143662777,0.003197849383746393,-0.0034379968901872087],"tcp_position_m":[0.06812348610726421,0.48730461895029276,0.43500000000000827],"tcp_quaternion_wxyz":[8.859736015580597e-15,0.7071067811865465,0.7071067811865482,1.8722146142863047e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,7.133577946368218e-17,2.4816153947195697e-17,-2.648472693543808e-07],"object_linear_velocity_m_s":[-3.04268572521747e-17,8.597189139493983e-17,5.9918957189923866e-15],"object_angular_velocity_rad_s":[-2.613169089896203e-15,-1.0456081126711824e-15,-9.750554212364609e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221273259,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.306591115273735,-1.3102027488896746,-1.5707950793627241,-0.4147139967748206,0.0],"actuator_force":[2.6320776669308543e-09,-19.80784387785434,-20.288585099395277,-2.413346841888142,0.0006237190216324962,2.7853275241795927e-12,-0.29336110840487417],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948968,-0.4147139967748208],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.499999999998405,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948968,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.51999999999843,"qpos":[-1.9855103235697142,-1.5821556794153575,1.3167354078238174,-1.3053760552033753,-1.570796326794903,-0.4147139967748237,0.002933611172860653,0.00015630156782489598,0.003193479461493909,-0.003429298941943565,0.0029336110734241006,0.00015630110463282326,0.003197849390693537,-0.0034379968902661677,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,6.344677070664978e-17,3.3957564722265866e-17,-2.6533951601509043e-07],"qvel":[1.8518426623556253e-12,7.848257432766147e-14,6.995407128984634e-13,2.5090195898621636e-12,5.095008356105647e-12,1.7481007131763074e-14,8.287180546311065e-10,4.291905489211957e-09,-4.208926452423746e-09,-2.887201502507723e-10,-7.162561175868087e-10,-2.776968856312685e-09,2.654867513814284e-09,2.204630426944226e-10,-4.1032078635577667e-17,8.001879203557651e-17,5.633848793550774e-15,-2.5127380013767463e-15,-5.715122728376192e-16,-1.780204967017642e-08],"joint_position_rad":[-1.9855103235697142,-1.5821556794153575,1.3167354078238174,-1.3053760552033753,-1.570796326794903,-0.4147139967748237],"joint_velocity_rad_s":[1.8518426623556253e-12,7.848257432766147e-14,6.995407128984634e-13,2.5090195898621636e-12,5.095008356105647e-12,1.7481007131763074e-14],"linkage_position_rad":[0.002933611172860653,0.00015630156782489598,0.003193479461493909,-0.003429298941943565,0.0029336110734241006,0.00015630110463282326,0.003197849390693537,-0.0034379968902661677],"tcp_position_m":[0.06812348610725592,0.4873046189502934,0.43500000000000727],"tcp_quaternion_wxyz":[-3.5556963491689345e-16,0.7071067811865451,0.7071067811865496,9.996916645621483e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,6.344677070664978e-17,3.3957564722265866e-17,-2.6533951601509043e-07],"object_linear_velocity_m_s":[-4.1032078635577667e-17,8.001879203557651e-17,5.633848793550774e-15],"object_angular_velocity_rad_s":[-2.5127383058750043e-15,-5.715109371212039e-16,-1.7802049670176447e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221302844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737348,-1.3102027488896744,-1.5707950793627243,-0.4147139967748208,0.0],"actuator_force":[-7.471498975064605e-10,-19.807843877883442,-20.288585100444834,-2.413346843400518,0.0006237155797634841,-3.126388037344441e-13,-0.29336111287654737],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.51999999999843,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.539999999998454,"qpos":[-1.9855103235697193,-1.5821556794153575,1.3167354078238163,-1.305376055203381,-1.5707963267949157,-0.4147139967748237,0.0029336111706643776,0.0001563015565751406,0.0031934794725186036,-0.0034292989414551407,0.0029336110753302026,0.00015630111184413995,0.003197849383891051,-0.0034379968907449704,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,5.584793937017342e-17,3.6086176150108216e-17,-2.657704685864054e-07],"qvel":[1.5074043801065073e-12,5.2860876855066904e-14,4.0628223235785085e-13,3.3065612695283973e-12,7.95699968727106e-12,2.388907987550834e-14,2.8011804651119036e-10,2.087644444261474e-09,-1.8751798790918297e-09,-2.454697240782465e-10,-7.191509948688367e-11,-1.367582970087804e-09,1.3787545632781077e-09,5.517624882879283e-11,-4.924096007757887e-17,7.558009660233729e-17,5.4700908974185635e-15,-1.1370995166234321e-15,-3.591165296501214e-16,-3.2502047120302733e-08],"joint_position_rad":[-1.9855103235697193,-1.5821556794153575,1.3167354078238163,-1.305376055203381,-1.5707963267949157,-0.4147139967748237],"joint_velocity_rad_s":[1.5074043801065073e-12,5.2860876855066904e-14,4.0628223235785085e-13,3.3065612695283973e-12,7.95699968727106e-12,2.388907987550834e-14],"linkage_position_rad":[0.0029336111706643776,0.0001563015565751406,0.0031934794725186036,-0.0034292989414551407,0.0029336110753302026,0.00015630111184413995,0.003197849383891051,-0.0034379968907449704],"tcp_position_m":[0.06812348610726182,0.48730461895029314,0.4350000000000084],"tcp_quaternion_wxyz":[4.158631234547426e-15,0.7071067811865464,0.7071067811865477,1.551820834935272e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,5.584793937017342e-17,3.6086176150108216e-17,-2.657704685864054e-07],"object_linear_velocity_m_s":[-4.924096007757887e-17,7.558009660233729e-17,5.4700908974185635e-15],"object_angular_velocity_rad_s":[-1.1370997098541587e-15,-3.5911592160478324e-16,-3.250204712030279e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221269339,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.306591115273735,-1.310202748889674,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[-5.998117558192462e-10,-19.807843877873438,-20.28858510032478,-2.4133468434770293,0.0006237152999801765,-8.810729923425242e-13,-0.2933611133407438],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.539999999998454,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.559999999998478,"qpos":[-1.9855103235697216,-1.5821556794153573,1.3167354078238154,-1.3053760552033866,-1.5707963267949308,-0.4147139967748237,0.002933611169441124,0.00015630155080671718,0.0031934794784911963,-0.0034292989417749,0.002933611076135119,0.00015630111546729615,0.0031978493799810492,-0.003437996890543971,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999656,3.2893614553468846e-17,3.7789733584746415e-17,-2.661732060244686e-07],"qvel":[-2.338101798698805e-12,2.906102445857774e-14,-1.0805340851494102e-12,-2.168054743032454e-12,-3.4515960381931124e-12,1.635165304721701e-14,-1.0941817092078302e-09,-5.815286879323497e-09,5.71193071347486e-09,4.358139612421275e-10,1.0462893513473061e-09,3.7164230944772447e-09,-3.420975682396619e-09,-3.8039725886863984e-10,-6.688306537955085e-17,3.6331695002654246e-17,5.384048613010113e-15,-2.53338704194888e-15,1.2945547677828433e-15,-5.9340530252542335e-08],"joint_position_rad":[-1.9855103235697216,-1.5821556794153573,1.3167354078238154,-1.3053760552033866,-1.5707963267949308,-0.4147139967748237],"joint_velocity_rad_s":[-2.338101798698805e-12,2.906102445857774e-14,-1.0805340851494102e-12,-2.168054743032454e-12,-3.4515960381931124e-12,1.635165304721701e-14],"linkage_position_rad":[0.002933611169441124,0.00015630155080671718,0.0031934794784911963,-0.0034292989417749,0.002933611076135119,0.00015630111546729615,0.0031978493799810492,-0.003437996890543971],"tcp_position_m":[0.06812348610726725,0.48730461895029287,0.43500000000000916],"tcp_quaternion_wxyz":[1.006733134367795e-14,0.7071067811865478,0.7071067811865465,2.1080372287218162e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999656,3.2893614553468846e-17,3.7789733584746415e-17,-2.661732060244686e-07],"object_linear_velocity_m_s":[-6.688306537955085e-17,3.6331695002654246e-17,5.384048613010113e-15],"object_angular_velocity_rad_s":[-2.533386357281865e-15,1.2945561203260149e-15,-5.9340530252542454e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221253411,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737346,-1.310202748889674,-1.570795079362724,-0.41471399677482057,0.0],"actuator_force":[9.431460057385266e-10,-19.807843877864343,-20.288585099729517,-2.4133468429268987,0.000623716448558298,-8.526512829121202e-14,-0.2933611120393504],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.559999999998478,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.579999999998503,"qpos":[-1.9855103235697138,-1.5821556794153573,1.3167354078238176,-1.3053760552033729,-1.5707963267948992,-0.4147139967748237,0.0029336111737117824,0.00015630157204569263,0.003193479457368386,-0.0034292989422780333,0.002933611072645396,0.00015630110190587793,0.003197849393242661,-0.0034379968899873156,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,1.7107908142998878e-17,3.4208853780376465e-17,-2.664492546718158e-07],"qvel":[1.6410687130282126e-12,8.59677779817412e-14,6.533034683807413e-13,1.8675746437942218e-12,3.451759971048557e-12,1.5764129711417785e-14,9.688285093934957e-10,4.611286325985277e-09,-4.589512374431861e-09,-2.6253576540362734e-10,-8.982395505952616e-10,-2.9830718024873154e-09,2.8350580412251665e-09,2.5655898399875434e-10,-9.15484876190855e-17,4.94341729961468e-17,5.651889917700932e-15,9.612515247196859e-16,2.9667294427812152e-15,-1.0834082289087227e-07],"joint_position_rad":[-1.9855103235697138,-1.5821556794153573,1.3167354078238176,-1.3053760552033729,-1.5707963267948992,-0.4147139967748237],"joint_velocity_rad_s":[1.6410687130282126e-12,8.59677779817412e-14,6.533034683807413e-13,1.8675746437942218e-12,3.451759971048557e-12,1.5764129711417785e-14],"linkage_position_rad":[0.0029336111737117824,0.00015630157204569263,0.003193479457368386,-0.0034292989422780333,0.002933611072645396,0.00015630110190587793,0.003197849393242661,-0.0034379968899873156],"tcp_position_m":[0.06812348610725436,0.4873046189502932,0.4350000000000067],"tcp_quaternion_wxyz":[-1.6466177331613168e-15,0.7071067811865446,0.7071067811865497,7.804220863799398e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,1.7107908142998878e-17,3.4208853780376465e-17,-2.664492546718158e-07],"object_linear_velocity_m_s":[-9.15484876190855e-17,4.94341729961468e-17,5.651889917700932e-15],"object_angular_velocity_rad_s":[9.612530982728173e-16,2.966728934238261e-15,-1.0834082289087226e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221315534,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.310202748889674,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[-6.639311322942376e-10,-19.80784387788708,-20.288585100427554,-2.413346843337422,0.0006237157423356621,-5.684341886080802e-14,-0.29336111267080367],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.579999999998503,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.599999999998527,"qpos":[-1.985510323569718,-1.5821556794153573,1.3167354078238163,-1.3053760552033773,-1.5707963267949085,-0.4147139967748237,0.002933611171161438,0.00015630155985208312,0.003193479469492284,-0.0034292989418753914,0.002933611075007321,0.0001563011097353425,0.003197849385872295,-0.00343799689053926,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,1.453675545331585e-17,3.4925564831882505e-17,-2.6686021721980954e-07],"qvel":[2.0152606844202156e-12,6.91385194403832e-14,6.960876111229871e-13,3.2890784844918744e-12,7.246989104416797e-12,1.929891592718591e-14,6.287333779759803e-10,3.743934331566201e-09,-3.542862975785513e-09,-3.4814325229264357e-10,-4.5436138856068817e-10,-2.426252837543604e-09,2.3266072057408233e-09,1.8513091504583188e-10,-4.2136425717193344e-17,2.014178163853879e-17,6.269451475148676e-15,-7.700524504546754e-16,-1.1856260453224907e-15,-1.1737840939087055e-08],"joint_position_rad":[-1.985510323569718,-1.5821556794153573,1.3167354078238163,-1.3053760552033773,-1.5707963267949085,-0.4147139967748237],"joint_velocity_rad_s":[2.0152606844202156e-12,6.91385194403832e-14,6.960876111229871e-13,3.2890784844918744e-12,7.246989104416797e-12,1.929891592718591e-14],"linkage_position_rad":[0.002933611171161438,0.00015630155985208312,0.003193479469492284,-0.0034292989418753914,0.002933611075007321,0.0001563011097353425,0.003197849385872295,-0.00343799689053926],"tcp_position_m":[0.06812348610725924,0.4873046189502931,0.4350000000000078],"tcp_quaternion_wxyz":[1.7181912101809262e-15,0.7071067811865461,0.7071067811865481,1.2273673679993541e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,1.453675545331585e-17,3.4925564831882505e-17,-2.6686021721980954e-07],"object_linear_velocity_m_s":[-4.2136425717193344e-17,2.014178163853879e-17,6.269451475148676e-15],"object_angular_velocity_rad_s":[-7.700530840673153e-16,-1.1856256339883333e-15,-1.1737840939087058e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221278377,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737346,-1.3102027488896744,-1.570795079362724,-0.41471399677482107,0.0],"actuator_force":[-8.05357558419928e-10,-19.807843877879804,-20.28858510044165,-2.413346843477484,0.0006237153675101581,-6.252776074688882e-13,-0.29336111318029795],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.599999999998527,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.61999999999855,"qpos":[-1.985510323569722,-1.5821556794153573,1.3167354078238145,-1.3053760552033844,-1.5707963267949245,-0.4147139967748237,0.0029336111690464665,0.00015630154948511953,0.003193479480034551,-0.0034292989418685284,0.0029336110767189476,0.00015630111630157882,0.0031978493792862947,-0.0034379968906549383,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,1.518169531180434e-17,3.579196578352596e-17,-2.673264838934621e-07],"qvel":[2.7180745275956027e-13,3.5799583578931774e-14,-1.6861812164928685e-13,2.2145318518362215e-12,6.325349959224572e-12,2.4814559845228415e-14,-2.577327345879686e-10,-8.245704801130525e-10,9.898119418383304e-10,-2.4303684516910697e-11,4.4995656980462184e-10,4.96743291878017e-10,-3.3438110029772104e-10,-1.3704729070623965e-10,-4.566989094021423e-17,2.0047231120512433e-17,6.45680161055417e-15,-3.604988295846797e-16,-8.471049100667213e-16,-2.1430333380764644e-08],"joint_position_rad":[-1.985510323569722,-1.5821556794153573,1.3167354078238145,-1.3053760552033844,-1.5707963267949245,-0.4147139967748237],"joint_velocity_rad_s":[2.7180745275956027e-13,3.5799583578931774e-14,-1.6861812164928685e-13,2.2145318518362215e-12,6.325349959224572e-12,2.4814559845228415e-14],"linkage_position_rad":[0.0029336111690464665,0.00015630154948511953,0.003193479480034551,-0.0034292989418685284,0.0029336110767189476,0.00015630111630157882,0.0031978493792862947,-0.0034379968906549383],"tcp_position_m":[0.06812348610726579,0.48730461895029326,0.4350000000000094],"tcp_quaternion_wxyz":[7.500627183417947e-15,0.707106781186548,0.7071067811865467,1.9382798131007497e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,1.518169531180434e-17,3.579196578352596e-17,-2.673264838934621e-07],"object_linear_velocity_m_s":[-4.566989094021423e-17,2.0047231120512433e-17,6.45680161055417e-15],"object_angular_velocity_rad_s":[-3.6049928402584984e-16,-8.471047166741334e-16,-2.1430333380764654e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221247408,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.306591115273735,-1.3102027488896741,-1.570795079362724,-0.4147139967748206,0.0],"actuator_force":[-1.000444171950221e-10,-19.80784387786707,-20.288585100091495,-2.413346843366412,0.0006237154676682621,-9.379164112033322e-13,-0.2933611132493899],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415343,1.3167354078238165,-1.3053760552033697,-1.5707963267948963,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.61999999999855,"joint_targets_rad":[-1.9855103235697176,-1.582155679415343,1.3167354078238165,-1.3053760552033697,-1.5707963267948963,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.639999999998576,"qpos":[-1.9855103235697216,-1.5821556794153573,1.316735407823815,-1.3053760552033862,-1.5707963267949296,-0.4147139967748237,0.002933611170981357,0.00015630155664300398,0.003193479471900304,-0.0034292989410411477,0.0029336110745534745,0.00015630111189912887,0.0031978493836264917,-0.00343799689065959,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,1.2227335301287474e-17,3.46844739443938e-17,-2.6778279108372295e-07],"qvel":[-6.908885856218955e-12,-5.625525432790384e-15,-2.0318777937757736e-12,-1.3257874376529804e-11,-3.0814347508514817e-11,-1.4217553451172808e-14,-2.6268470238794835e-09,-1.5074740173172717e-08,1.4131011206866494e-08,1.3033560932568434e-09,1.802573346407194e-09,9.768794982673854e-09,-9.362067523499188e-09,-6.981753800054965e-10,-4.780706373989785e-17,1.6773811833469053e-17,6.573375028139812e-15,-6.849922706159031e-18,-4.586078378735663e-16,-3.9126376920087074e-08],"joint_position_rad":[-1.9855103235697216,-1.5821556794153573,1.316735407823815,-1.3053760552033862,-1.5707963267949296,-0.4147139967748237],"joint_velocity_rad_s":[-6.908885856218955e-12,-5.625525432790384e-15,-2.0318777937757736e-12,-1.3257874376529804e-11,-3.0814347508514817e-11,-1.4217553451172808e-14],"linkage_position_rad":[0.002933611170981357,0.00015630155664300398,0.003193479471900304,-0.0034292989410411477,0.0029336110745534745,0.00015630111189912887,0.0031978493836264917,-0.00343799689065959],"tcp_position_m":[0.06812348610726707,0.4873046189502932,0.43500000000000916],"tcp_quaternion_wxyz":[9.548299348207515e-15,0.707106781186548,0.7071067811865467,2.0894407199135274e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,1.2227335301287474e-17,3.46844739443938e-17,-2.6778279108372295e-07],"object_linear_velocity_m_s":[-4.780706373989785e-17,1.6773811833469053e-17,6.573375028139812e-15],"object_angular_velocity_rad_s":[-6.850171034887075e-18,-4.586078332480946e-16,-3.91263769200871e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221274589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354283,1.3065911152737335,-1.3102027488896733,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[2.7712303563021123e-09,-19.80784387784888,-20.288585099350257,-2.41334684181777,0.0006237191842046741,2.9274360713316128e-12,-0.2933611081553732],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.639999999998576,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.6599999999986,"qpos":[-1.9855103235697162,-1.5821556794153573,1.3167354078238165,-1.305376055203375,-1.5707963267949019,-0.4147139967748237,0.0029336111719025964,0.0001563015640328008,0.003193479465542687,-0.0034292989423089903,0.0029336110743918577,0.00015630110703565008,0.0031978493883986236,-0.0034379968902496514,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,1.582343351743222e-17,2.1569093073326374e-17,-2.6814360526472227e-07],"qvel":[2.043762860029389e-12,8.059086670526724e-14,7.800114335251026e-13,2.7498911092342444e-12,5.561238903644321e-12,1.6583290037919147e-14,8.648006129263792e-10,4.612427407197751e-09,-4.46291736047062e-09,-3.6919092478055005e-10,-7.3975748871276e-10,-2.9807456655982763e-09,2.8132137884974436e-09,2.643193859390103e-10,-2.131221219302185e-17,3.3176655739319136e-17,6.411004910788383e-15,1.2917537100005814e-15,-1.9777567743114682e-15,-7.143488361533294e-08],"joint_position_rad":[-1.9855103235697162,-1.5821556794153573,1.3167354078238165,-1.305376055203375,-1.5707963267949019,-0.4147139967748237],"joint_velocity_rad_s":[2.043762860029389e-12,8.059086670526724e-14,7.800114335251026e-13,2.7498911092342444e-12,5.561238903644321e-12,1.6583290037919147e-14],"linkage_position_rad":[0.0029336111719025964,0.0001563015640328008,0.003193479465542687,-0.0034292989423089903,0.0029336110743918577,0.00015630110703565008,0.0031978493883986236,-0.0034379968902496514],"tcp_position_m":[0.06812348610725662,0.48730461895029353,0.4350000000000074],"tcp_quaternion_wxyz":[-1.057285466564703e-15,0.7071067811865458,0.7071067811865489,9.83126391063546e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,1.582343351743222e-17,2.1569093073326374e-17,-2.6814360526472227e-07],"object_linear_velocity_m_s":[-2.131221219302185e-17,3.3176655739319136e-17,6.411004910788383e-15],"object_angular_velocity_rad_s":[1.2917526462731624e-15,-1.977757464801488e-15,-7.1434883615333e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221290173,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.3065911152737348,-1.3102027488896741,-1.570795079362724,-0.414713996774821,0.0],"actuator_force":[-8.203642209991813e-10,-19.807843877885716,-20.288585100475302,-2.4133468434246197,0.0006237155328108202,-3.126388037344441e-13,-0.2933611129399383],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.6599999999986,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.679999999998625,"qpos":[-1.9855103235697207,-1.5821556794153573,1.3167354078238145,-1.3053760552033813,-1.570796326794915,-0.4147139967748237,0.002933611169206098,0.00015630155123055468,0.0031934794786146747,-0.0034292989422075038,0.0029336110767857197,0.00015630111514467563,0.003197849380431196,-0.0034379968905780193,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,1.5660760620424727e-17,9.065687915106385e-18,-2.6841457479405445e-07],"qvel":[1.65538973921303e-12,4.859880436582737e-14,4.568943403741274e-13,3.6104146666752495e-12,8.676841625869314e-12,2.552568618531013e-14,3.014692910452043e-10,2.269782132945758e-09,-2.027261930082737e-09,-2.7315184234920303e-10,-7.215443673176786e-11,-1.4816050773829765e-09,1.4890555742735752e-09,6.06326159745843e-11,-1.3926635705910345e-17,1.8416196599191378e-17,5.914180107268625e-15,-6.12882811459112e-16,-8.380218404343544e-16,-7.739384647498394e-09],"joint_position_rad":[-1.9855103235697207,-1.5821556794153573,1.3167354078238145,-1.3053760552033813,-1.570796326794915,-0.4147139967748237],"joint_velocity_rad_s":[1.65538973921303e-12,4.859880436582737e-14,4.568943403741274e-13,3.6104146666752495e-12,8.676841625869314e-12,2.552568618531013e-14],"linkage_position_rad":[0.002933611169206098,0.00015630155123055468,0.0031934794786146747,-0.0034292989422075038,0.0029336110767857197,0.00015630111514467563,0.003197849380431196,-0.0034379968905780193],"tcp_position_m":[0.06812348610726252,0.48730461895029337,0.43500000000000916],"tcp_quaternion_wxyz":[3.553473699427314e-15,0.7071067811865469,0.7071067811865474,1.6128716989547022e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,1.5660760620424727e-17,9.065687915106385e-18,-2.6841457479405445e-07],"object_linear_velocity_m_s":[-1.3926635705910345e-17,1.8416196599191378e-17,5.914180107268625e-15],"object_angular_velocity_rad_s":[-6.128832614739019e-16,-8.380215111784667e-16,-7.7393846474984e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221250501,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.3102027488896737,-1.5707950793627237,-0.4147139967748205,0.0],"actuator_force":[-6.562004273291677e-10,-19.807843877872983,-20.288585100341606,-2.41334684350727,0.0006237152279027214,-9.663381206337363e-13,-0.29336111344616517],"issued_joint_targets_rad":[-1.985510323569718,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948963,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.679999999998625,"joint_targets_rad":[-1.985510323569718,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948963,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.69999999999865,"qpos":[-1.9855103235697238,-1.5821556794153573,1.3167354078238136,-1.3053760552033884,-1.570796326794933,-0.4147139967748237,0.002933611169595944,0.00015630154945814694,0.003193479478995867,-0.0034292989406654283,0.0029336110758870853,0.00015630111648314265,0.0031978493794233933,-0.0034379968910690176,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,2.26027416440722e-17,1.863288705003987e-17,-2.689092967262863e-07],"qvel":[-2.4032986003930563e-12,1.841214831988991e-14,-1.1200023532254175e-12,-2.202174087537185e-12,-3.4556963838305196e-12,1.5978329638331846e-14,-1.2591411105782868e-09,-6.7196702344140246e-09,6.565539441051265e-09,4.390296606163482e-10,1.2116793838212452e-09,4.2915323564388825e-09,-3.888938994096969e-09,-4.263988974976103e-10,-2.4144502498313224e-17,2.825258694862161e-17,5.771238892848136e-15,-7.168703669990794e-16,-6.346093579151647e-16,-1.4130161928296335e-08],"joint_position_rad":[-1.9855103235697238,-1.5821556794153573,1.3167354078238136,-1.3053760552033884,-1.570796326794933,-0.4147139967748237],"joint_velocity_rad_s":[-2.4032986003930563e-12,1.841214831988991e-14,-1.1200023532254175e-12,-2.202174087537185e-12,-3.4556963838305196e-12,1.5978329638331846e-14],"linkage_position_rad":[0.002933611169595944,0.00015630154945814694,0.003193479478995867,-0.0034292989406654283,0.0029336110758870853,0.00015630111648314265,0.0031978493794233933,-0.0034379968910690176],"tcp_position_m":[0.06812348610726898,0.48730461895029337,0.43500000000001016],"tcp_quaternion_wxyz":[1.0483990091872485e-14,0.7071067811865486,0.7071067811865461,2.3281277986917234e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,2.26027416440722e-17,1.863288705003987e-17,-2.689092967262863e-07],"object_linear_velocity_m_s":[-2.4144502498313224e-17,2.825258694862161e-17,5.771238892848136e-15],"object_angular_velocity_rad_s":[-7.168707088302602e-16,-6.346089717301002e-16,-1.4130161928296353e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221251785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.5707950793627237,-0.4147139967748207,0.0],"actuator_force":[9.731593308970332e-10,-19.807843877859796,-20.288585099710417,-2.413346842922465,0.0006237164502636006,-8.526512829121202e-14,-0.2933611120368429],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948968,-0.41471399677482146],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.69999999999865,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948968,-0.41471399677482146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.719999999998674,"qpos":[-1.985510323569714,-1.5821556794153573,1.316735407823817,-1.3053760552033729,-1.5707963267948977,-0.4147139967748237,0.0029336111728026732,0.00015630156859905133,0.003193479461128075,-0.0034292989427149347,0.0029336110735726107,0.0001563011040882851,0.0031978493911164734,-0.0034379968899307194,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,4.7733144482936086e-17,3.647365801931041e-17,-2.6934884617663714e-07],"qvel":[1.8067519675703185e-12,8.98636500525766e-14,7.295820131844377e-13,2.0523820339989364e-12,3.774048273649959e-12,1.180536785843773e-14,1.018809531843376e-09,4.964789416528433e-09,-4.8844214088443305e-09,-3.3553530893751603e-10,-9.397552490243632e-10,-3.2061116304806976e-09,3.0117448364039583e-09,3.0231587745436717e-10,-4.7347826879178656e-17,6.440808050777445e-17,5.628297678427646e-15,7.033394378184204e-16,4.792552170684347e-16,-2.579810737077122e-08],"joint_position_rad":[-1.985510323569714,-1.5821556794153573,1.316735407823817,-1.3053760552033729,-1.5707963267948977,-0.4147139967748237],"joint_velocity_rad_s":[1.8067519675703185e-12,8.98636500525766e-14,7.295820131844377e-13,2.0523820339989364e-12,3.774048273649959e-12,1.180536785843773e-14],"linkage_position_rad":[0.0029336111728026732,0.00015630156859905133,0.003193479461128075,-0.0034292989427149347,0.0029336110735726107,0.0001563011040882851,0.0031978493911164734,-0.0034379968899307194],"tcp_position_m":[0.06812348610725423,0.4873046189502934,0.43500000000000694],"tcp_quaternion_wxyz":[-2.3923479801889202e-15,0.707106781186545,0.7071067811865497,7.738093695424428e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,4.7733144482936086e-17,3.647365801931041e-17,-2.6934884617663714e-07],"object_linear_velocity_m_s":[-4.7347826879178656e-17,6.440808050777445e-17,5.628297678427646e-15],"object_angular_velocity_rad_s":[7.033396941100968e-16,4.792548406438839e-16,-2.579810737077126e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221303929,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.3065911152737353,-1.3102027488896741,-1.5707950793627243,-0.41471399677482146,0.0],"actuator_force":[-7.298694981727749e-10,-19.807843877889354,-20.288585100455293,-2.413346843355953,0.0006237157091391055,-8.526512829121202e-14,-0.29336111271403564],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.316735407823817,-1.3053760552033704,-1.5707963267948966,-0.4147139967748203],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.719999999998674,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.316735407823817,-1.3053760552033704,-1.5707963267948966,-0.4147139967748203],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.739999999998698,"qpos":[-1.9855103235697182,-1.5821556794153573,1.3167354078238147,-1.3053760552033782,-1.570796326794909,-0.4147139967748237,0.0029336111710996063,0.00015630155799531837,0.003193479470639488,-0.00342929894100517,0.0029336110750299593,0.00015630111102171487,0.0031978493851228316,-0.0034379968910374353,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,7.377604456673021e-17,2.965252920191844e-17,-2.697706274303801e-07],"qvel":[2.216533106476343e-12,6.928827142261805e-14,7.772953133153912e-13,3.5906954063866524e-12,7.860438468247795e-12,2.339127219838394e-14,5.666719572565061e-10,3.686632393170003e-09,-3.4110924327284047e-09,-4.382992694752501e-10,-3.7632417294408786e-10,-2.3981945798799903e-09,2.2801899602260924e-09,2.0586566367765946e-10,-3.5897767449981716e-17,1.0940424873184707e-16,5.521438712307476e-15,2.8582023987612665e-15,-8.774849396205505e-16,-4.710082922553649e-08],"joint_position_rad":[-1.9855103235697182,-1.5821556794153573,1.3167354078238147,-1.3053760552033782,-1.570796326794909,-0.4147139967748237],"joint_velocity_rad_s":[2.216533106476343e-12,6.928827142261805e-14,7.772953133153912e-13,3.5906954063866524e-12,7.860438468247795e-12,2.339127219838394e-14],"linkage_position_rad":[0.0029336111710996063,0.00015630155799531837,0.003193479470639488,-0.00342929894100517,0.0029336110750299593,0.00015630111102171487,0.0031978493851228316,-0.0034379968910374353],"tcp_position_m":[0.06812348610725966,0.4873046189502936,0.43500000000000866],"tcp_quaternion_wxyz":[1.453440913755543e-15,0.7071067811865464,0.7071067811865481,1.3414116484279279e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,7.377604456673021e-17,2.965252920191844e-17,-2.697706274303801e-07],"object_linear_velocity_m_s":[-3.5897767449981716e-17,1.0940424873184707e-16,5.521438712307476e-15],"object_angular_velocity_rad_s":[2.8582019225282142e-15,-8.774864747887066e-16,-4.710082922553658e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221273925,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542831,1.306591115273734,-1.310202748889674,-1.570795079362724,-0.4147139967748203,0.0],"actuator_force":[-8.853930921759456e-10,-19.80784387787935,-20.288585100472574,-2.413346843506929,0.0006237153064603262,-6.536993168992922e-13,-0.2933611132582172],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.739999999998698,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.759999999998723,"qpos":[-1.9855103235697222,-1.5821556794153573,1.3167354078238134,-1.305376055203386,-1.5707963267949272,-0.4147139967748237,0.0029336111693268785,0.00015630154812530387,0.003193479480160477,-0.003429298940532808,0.002933611076351614,0.00015630111727714968,0.003197849379087136,-0.003437996891330293,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,7.656118427484869e-17,2.785686971094223e-17,-2.700854486862383e-07],"qvel":[3.8037713530382175e-13,2.8127069282317386e-14,-1.3602167950598517e-13,2.4665797276276875e-12,6.927954864762614e-12,2.589582313941585e-14,-3.970001898248215e-10,-1.3537448291452457e-09,1.5723497183628926e-09,-1.0429669073177716e-10,6.074605044126253e-10,8.196375669007826e-10,-6.225121700564248e-10,-1.3962132789242534e-10,-9.181399727025543e-17,1.8641111653525913e-16,5.399314179598706e-15,5.458234278640935e-15,4.0057253491593265e-15,-8.599421972507482e-08],"joint_position_rad":[-1.9855103235697222,-1.5821556794153573,1.3167354078238134,-1.305376055203386,-1.5707963267949272,-0.4147139967748237],"joint_velocity_rad_s":[3.8037713530382175e-13,2.8127069282317386e-14,-1.3602167950598517e-13,2.4665797276276875e-12,6.927954864762614e-12,2.589582313941585e-14],"linkage_position_rad":[0.0029336111693268785,0.00015630154812530387,0.003193479480160477,-0.003429298940532808,0.002933611076351614,0.00015630111727714968,0.003197849379087136,-0.003437996891330293],"tcp_position_m":[0.0681234861072667,0.4873046189502932,0.4350000000000098],"tcp_quaternion_wxyz":[8.320522388569759e-15,0.7071067811865481,0.7071067811865466,2.084977873528361e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,7.656118427484869e-17,2.785686971094223e-17,-2.700854486862383e-07],"object_linear_velocity_m_s":[-9.181399727025543e-17,1.8641111653525913e-16,5.399314179598706e-15],"object_angular_velocity_rad_s":[5.4582364376253496e-15,4.005722413947082e-15,-8.5994219725075e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221245667,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.3102027488896737,-1.5707950793627237,-0.4147139967748205,0.0],"actuator_force":[-1.432454155292362e-10,-19.807843877864798,-20.288585100101955,-2.4133468433906273,0.000623715408892167,-9.947598300641403e-13,-0.2933611133362262],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153444,1.3167354078238185,-1.3053760552033709,-1.5707963267948968,-0.41471399677482135],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.759999999998723,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153444,1.3167354078238185,-1.3053760552033709,-1.5707963267948968,-0.41471399677482135],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.779999999998747,"qpos":[-1.9855103235697114,-1.5821556794153573,1.3167354078238176,-1.305376055203371,-1.5707963267948968,-0.4147139967748237,0.0029336111738359856,0.00015630157330445496,0.0031934794564549133,-0.003429298943037676,0.0029336110725869786,0.0001563011010005641,0.0031978493940388528,-0.003437996889624481,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999645,7.33023149022964e-17,3.2539798674121516e-17,-2.704116452454665e-07],"qvel":[1.4456586329884496e-12,9.46786240428266e-14,6.115328413649253e-13,1.3811365096908849e-12,2.237404424992418e-12,1.0696268292847194e-14,1.1069596671339764e-09,4.976194046164262e-09,-4.966983383621945e-09,-2.700632542247068e-10,-1.0638483684271555e-09,-3.2089653220226094e-09,3.013388789783875e-09,3.064314557995759e-10,-3.904386357451474e-17,9.002649316555347e-17,5.339639692025104e-15,-2.7902652096594617e-15,-1.3050328345602928e-15,-9.316769486147874e-09],"joint_position_rad":[-1.9855103235697114,-1.5821556794153573,1.3167354078238176,-1.305376055203371,-1.5707963267948968,-0.4147139967748237],"joint_velocity_rad_s":[1.4456586329884496e-12,9.46786240428266e-14,6.115328413649253e-13,1.3811365096908849e-12,2.237404424992418e-12,1.0696268292847194e-14],"linkage_position_rad":[0.0029336111738359856,0.00015630157330445496,0.0031934794564549133,-0.003429298943037676,0.0029336110725869786,0.0001563011010005641,0.0031978493940388528,-0.003437996889624481],"tcp_position_m":[0.06812348610725265,0.48730461895029314,0.4350000000000066],"tcp_quaternion_wxyz":[-2.5217240228946635e-15,0.7071067811865442,0.7071067811865505,6.693600705263488e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999645,7.33023149022964e-17,3.2539798674121516e-17,-2.704116452454665e-07],"object_linear_velocity_m_s":[-3.904386357451474e-17,9.002649316555347e-17,5.339639692025104e-15],"object_angular_velocity_rad_s":[-2.7902659160575424e-15,-1.3050313241538108e-15,-9.316769486147892e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221317866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542843,1.3065911152737355,-1.3102027488896744,-1.5707950793627243,-0.41471399677482135,0.0],"actuator_force":[-5.911715561524034e-10,-19.807843877891628,-20.28858510040891,-2.413346843289787,0.0006237158623889627,8.526512829121202e-14,-0.2933611125367047],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.4147139967748211],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.779999999998747,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.79999999999877,"qpos":[-1.985510323569715,-1.5821556794153573,1.3167354078238158,-1.3053760552033749,-1.5707963267949037,-0.4147139967748237,0.0029336111718013514,0.00015630156219228501,0.003193479466748364,-0.0034292989415380757,0.002933611074469451,0.00015630110823613213,0.003197849387703728,-0.003437996890744678,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,9.647995833935255e-17,3.7213512859886524e-17,-2.708819927322112e-07],"qvel":[2.2405972206794628e-12,8.233839339335612e-14,8.674425484302801e-13,3.010303083954016e-12,6.069437519996686e-12,1.6271198199323364e-14,8.194643181270199e-10,4.6558492653358115e-09,-4.422155501210096e-09,-4.70410800981298e-10,-6.816095155534805e-10,-3.0103225670055914e-09,2.8073858403758306e-09,2.985363743310972e-10,-4.756068250904592e-17,1.210961844972944e-16,6.125122481947402e-15,-2.4517251828145486e-15,-1.1401037998893045e-15,-1.7010068304386732e-08],"joint_position_rad":[-1.985510323569715,-1.5821556794153573,1.3167354078238158,-1.3053760552033749,-1.5707963267949037,-0.4147139967748237],"joint_velocity_rad_s":[2.2405972206794628e-12,8.233839339335612e-14,8.674425484302801e-13,3.010303083954016e-12,6.069437519996686e-12,1.6271198199323364e-14],"linkage_position_rad":[0.0029336111718013514,0.00015630156219228501,0.003193479466748364,-0.0034292989415380757,0.002933611074469451,0.00015630110823613213,0.003197849387703728,-0.003437996890744678],"tcp_position_m":[0.06812348610725633,0.48730461895029337,0.4350000000000075],"tcp_quaternion_wxyz":[-2.2977212773188975e-16,0.7071067811865454,0.7071067811865493,1.0279723398674864e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,9.647995833935255e-17,3.7213512859886524e-17,-2.708819927322112e-07],"object_linear_velocity_m_s":[-4.756068250904592e-17,1.210961844972944e-16,6.125122481947402e-15],"object_angular_velocity_rad_s":[-2.451725801747375e-15,-1.1401024683504692e-15,-1.7010068304386732e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221285157,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.306591115273735,-1.3102027488896741,-1.5707950793627241,-0.4147139967748211,0.0],"actuator_force":[-9.013092494569719e-10,-19.80784387788617,-20.2885851005085,-2.4133468434507677,0.0006237154827886116,-3.410605131648481e-13,-0.29336111300281414],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948966,-0.4147139967748213],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.79999999999877,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948966,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.819999999998796,"qpos":[-1.9855103235697198,-1.5821556794153573,1.3167354078238143,-1.3053760552033817,-1.5707963267949185,-0.4147139967748237,0.0029336111693822474,0.00015630154956206314,0.0031934794791397274,-0.0034292989409781343,0.0029336110765445906,0.000156301116245282,0.003197849380122187,-0.0034379968912512594,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,1.114031221727712e-16,4.714427939858093e-17,-2.713491936034426e-07],"qvel":[1.838824620532271e-12,4.598782247047736e-14,5.276630235169376e-13,3.936819319574251e-12,9.404871045083363e-12,2.2050782594931634e-14,1.9377186330681252e-10,2.0050045434891425e-09,-1.6729154137169448e-09,-3.808560024503813e-10,5.700732654503443e-11,-1.3228604147500118e-09,1.3244226240163396e-09,7.818048697630493e-11,-6.654792133263925e-17,1.4957013965908728e-16,6.3652082110225936e-15,-1.0237299704606123e-15,-2.827516662579687e-16,-3.105608914657407e-08],"joint_position_rad":[-1.9855103235697198,-1.5821556794153573,1.3167354078238143,-1.3053760552033817,-1.5707963267949185,-0.4147139967748237],"joint_velocity_rad_s":[1.838824620532271e-12,4.598782247047736e-14,5.276630235169376e-13,3.936819319574251e-12,9.404871045083363e-12,2.2050782594931634e-14],"linkage_position_rad":[0.0029336111693822474,0.00015630154956206314,0.0031934794791397274,-0.0034292989409781343,0.0029336110765445906,0.000156301116245282,0.003197849380122187,-0.0034379968912512594],"tcp_position_m":[0.06812348610726297,0.4873046189502933,0.43500000000000916],"tcp_quaternion_wxyz":[5.057928479548096e-15,0.7071067811865467,0.7071067811865478,1.7286635598402722e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,1.114031221727712e-16,4.714427939858093e-17,-2.713491936034426e-07],"object_linear_velocity_m_s":[-6.654792133263925e-17,1.4957013965908728e-16,6.3652082110225936e-15],"object_angular_velocity_rad_s":[-1.0237301268375672e-15,-2.827511037618319e-16,-3.1056089146574084e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221246841,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.592059601354284,1.3065911152737353,-1.310202748889674,-1.5707950793627237,-0.4147139967748213,0.0],"actuator_force":[-7.312337402254343e-10,-19.80784387787162,-20.28858510036889,-2.4133468435397845,0.0006237151568484478,-1.0231815394945443e-12,-0.2933611135502378],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.819999999998796,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.83999999999882,"qpos":[-1.9855103235697154,-1.5821556794153573,1.3167354078238167,-1.30537605520338,-1.5707963267949192,-0.4147139967748237,0.0029336111721610203,0.00015630156436363576,0.0031934794650088087,-0.0034292989422534553,0.002933611073708084,0.00015630110684294198,0.003197849388187838,-0.003437996890011874,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,1.1145896291033833e-16,4.776263288886868e-17,-2.7173401397284467e-07],"qvel":[-4.672760649492926e-12,3.878303409085358e-14,-1.2804533891509374e-12,-9.226999043915125e-12,-2.1757407482817556e-11,-8.336515951588982e-15,-1.5720273656702144e-09,-8.585029329414789e-09,8.108101518134916e-09,8.730451322290315e-10,1.0122114725509066e-09,5.653498119789596e-09,-5.646877052703996e-09,-4.0177629281306905e-10,-8.422447845266908e-17,1.905416376866323e-16,6.5178638769085526e-15,2.4753262890459167e-15,1.179504422842326e-15,-5.670057614238387e-08],"joint_position_rad":[-1.9855103235697154,-1.5821556794153573,1.3167354078238167,-1.30537605520338,-1.5707963267949192,-0.4147139967748237],"joint_velocity_rad_s":[-4.672760649492926e-12,3.878303409085358e-14,-1.2804533891509374e-12,-9.226999043915125e-12,-2.1757407482817556e-11,-8.336515951588982e-15],"linkage_position_rad":[0.0029336111721610203,0.00015630156436363576,0.0031934794650088087,-0.0034292989422534553,0.002933611073708084,0.00015630110684294198,0.003197849388187838,-0.003437996890011874],"tcp_position_m":[0.06812348610726064,0.4873046189502928,0.4350000000000079],"tcp_quaternion_wxyz":[6.177227967703977e-15,0.7071067811865454,0.7071067811865491,1.5203025770465425e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,1.1145896291033833e-16,4.776263288886868e-17,-2.7173401397284467e-07],"object_linear_velocity_m_s":[-8.422447845266908e-17,1.905416376866323e-16,6.5178638769085526e-15],"object_angular_velocity_rad_s":[2.475326924652161e-15,1.1795030902210319e-15,-5.670057614238391e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221295044,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737346,-1.3102027488896741,-1.5707950793627243,-0.414713996774821,0.0],"actuator_force":[1.864464138634503e-09,-19.807843877868436,-20.28858509965221,-2.4133468422244277,0.0006237182731183566,2.1600499167107046e-12,-0.29336110949437577],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.83999999999882,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.859999999998845,"qpos":[-1.9855103235697125,-1.5821556794153573,1.316735407823817,-1.3053760552033724,-1.5707963267948999,-0.4147139967748237,0.00293361117267312,0.00015630156682641411,0.0031934794623459857,-0.0034292989420580977,0.002933611073690062,0.00015630110520471516,0.0031978493904908398,-0.0034379968903874626,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,9.794860766264235e-17,4.140974737746715e-17,-2.720521931921109e-07],"qvel":[1.986267071781597e-12,9.688705405935811e-14,8.035377559911804e-13,2.2668777589331185e-12,4.164271209990243e-12,1.384161789137998e-14,9.870930328836323e-10,5.070992420870049e-09,-4.902807419872656e-09,-4.410142583446288e-10,-8.98372523625361e-10,-3.2708639879262886e-09,3.028589206813617e-09,3.4468034695952736e-10,-8.599950003373731e-17,2.38006329568413e-16,6.6163961703440355e-15,6.3958904101335784e-15,1.4419063761741698e-15,-1.0352093335721383e-07],"joint_position_rad":[-1.9855103235697125,-1.5821556794153573,1.316735407823817,-1.3053760552033724,-1.5707963267948999,-0.4147139967748237],"joint_velocity_rad_s":[1.986267071781597e-12,9.688705405935811e-14,8.035377559911804e-13,2.2668777589331185e-12,4.164271209990243e-12,1.384161789137998e-14],"linkage_position_rad":[0.00293361117267312,0.00015630156682641411,0.0031934794623459857,-0.0034292989420580977,0.002933611073690062,0.00015630110520471516,0.0031978493904908398,-0.0034379968903874626],"tcp_position_m":[0.06812348610725392,0.48730461895029326,0.43500000000000694],"tcp_quaternion_wxyz":[-1.3381363897989363e-15,0.7071067811865445,0.7071067811865502,8.066715263755919e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,9.794860766264235e-17,4.140974737746715e-17,-2.720521931921109e-07],"object_linear_velocity_m_s":[-8.599950003373731e-17,2.38006329568413e-16,6.6163961703440355e-15],"object_angular_velocity_rad_s":[6.3958911861066745e-15,1.4419029164213953e-15,-1.035209333572139e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221298528,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697171,-1.5920596013542836,1.306591115273734,-1.3102027488896737,-1.5707950793627243,-0.41471399677482107,0.0],"actuator_force":[-8.039933163672686e-10,-19.807843877891173,-20.28858510048758,-2.413346843377326,0.0006237156712813885,-8.526512829121202e-14,-0.29336111276176163],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948963,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.859999999998845,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948963,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.87999999999887,"qpos":[-1.9855103235697171,-1.5821556794153573,1.3167354078238154,-1.3053760552033777,-1.5707963267949094,-0.4147139967748237,0.002933611169850939,0.0001563015530366884,0.003193479476054883,-0.0034292989415575363,0.0029336110762874655,0.00015630111395913544,0.003197849382253833,-0.0034379968910073565,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,9.075223140495028e-17,3.4162512227159576e-17,-2.7244487275100653e-07],"qvel":[2.4167718097849556e-12,6.944246920974055e-14,8.600092989490747e-13,3.922978667765738e-12,8.564332381733866e-12,2.252473128564228e-14,5.979764054916704e-10,3.988540627076645e-09,-3.650665798098222e-09,-5.07964173300859e-10,-3.866224537201501e-10,-2.5779227527037533e-09,2.428992235861021e-09,2.3554149454922646e-10,-4.2949997765789e-17,1.1296827523893619e-16,6.702438454752487e-15,-3.637731115975191e-15,-1.4871393615186841e-15,-1.1215645378997504e-08],"joint_position_rad":[-1.9855103235697171,-1.5821556794153573,1.3167354078238154,-1.3053760552033777,-1.5707963267949094,-0.4147139967748237],"joint_velocity_rad_s":[2.4167718097849556e-12,6.944246920974055e-14,8.600092989490747e-13,3.922978667765738e-12,8.564332381733866e-12,2.252473128564228e-14],"linkage_position_rad":[0.002933611169850939,0.0001563015530366884,0.003193479476054883,-0.0034292989415575363,0.0029336110762874655,0.00015630111395913544,0.003197849382253833,-0.0034379968910073565],"tcp_position_m":[0.06812348610725921,0.48730461895029353,0.4350000000000084],"tcp_quaternion_wxyz":[1.7734134269004152e-15,0.7071067811865461,0.7071067811865486,1.3119521277828174e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,9.075223140495028e-17,3.4162512227159576e-17,-2.7244487275100653e-07],"object_linear_velocity_m_s":[-4.2949997765789e-17,1.1296827523893619e-16,6.702438454752487e-15],"object_angular_velocity_rad_s":[-3.637731927067952e-15,-1.4871373773203928e-15,-1.1215645378997514e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221255577,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737346,-1.3102027488896735,-1.5707950793627234,-0.4147139967748206,0.0],"actuator_force":[-9.677023626863956e-10,-19.807843877880714,-20.288585100505315,-2.413346843540239,0.000623715236542921,-7.105427357601002e-13,-0.29336111336369003],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.87999999999887,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.899999999998894,"qpos":[-1.985510323569717,-1.5821556794153573,1.316735407823816,-1.3053760552033815,-1.570796326794921,-0.4147139967748237,0.0029336111714515847,0.0001563015608836197,0.003193479468506995,-0.0034292989420079967,0.0029336110743739484,0.00015630110907553235,0.0031978493860487472,-0.0034379968902189116,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,7.780621876609852e-17,3.650181623364364e-17,-2.7289039605387554e-07],"qvel":[-1.6460653820082936e-12,5.743575855862685e-14,-7.349644833101846e-13,-1.6497511696476717e-12,-2.8647379447653093e-12,1.4650084518645396e-14,-6.01214960668911e-10,-3.086390673154812e-09,3.029048592207268e-09,3.1940455486850597e-10,5.588227107391604e-10,2.01028220885184e-09,-1.9055278535933262e-09,-2.2358992912924775e-10,-4.8273738651498185e-17,1.0038263985146303e-16,6.782929624037812e-15,-2.441251051601485e-15,-7.358851824443626e-16,-2.0476936158845404e-08],"joint_position_rad":[-1.985510323569717,-1.5821556794153573,1.316735407823816,-1.3053760552033815,-1.570796326794921,-0.4147139967748237],"joint_velocity_rad_s":[-1.6460653820082936e-12,5.743575855862685e-14,-7.349644833101846e-13,-1.6497511696476717e-12,-2.8647379447653093e-12,1.4650084518645396e-14],"linkage_position_rad":[0.0029336111714515847,0.0001563015608836197,0.003193479468506995,-0.0034292989420079967,0.0029336110743739484,0.00015630110907553235,0.0031978493860487472,-0.0034379968902189116],"tcp_position_m":[0.06812348610726199,0.48730461895029303,0.43500000000000827],"tcp_quaternion_wxyz":[6.5238948605255134e-15,0.7071067811865461,0.7071067811865486,1.6654336536138863e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,7.780621876609852e-17,3.650181623364364e-17,-2.7289039605387554e-07],"object_linear_velocity_m_s":[-4.8273738651498185e-17,1.0038263985146303e-16,6.782929624037812e-15],"object_angular_velocity_rad_s":[-2.4412514547280115e-15,-7.358838468698548e-16,-2.0476936158845427e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221284139,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.5707950793627246,-0.4147139967748207,0.0],"actuator_force":[6.575646693818271e-10,-19.80784387787571,-20.28858509986958,-2.4133468429811273,0.0006237163846662952,2.842170943040401e-14,-0.2933611120793155],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.570796326794897,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.899999999998894,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.570796326794897,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.919999999998918,"qpos":[-1.985510323569711,-1.5821556794153573,1.3167354078238178,-1.3053760552033709,-1.5707963267948961,-0.4147139967748237,0.002933611173655236,0.00015630157157425786,0.0031934794577738934,-0.00342929894250104,0.0029336110727612363,0.00015630110211694136,0.0031978493933123996,-0.00343799689002338,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,5.679235448317054e-17,4.058511653717377e-17,-2.733264029529671e-07],"qvel":[1.6023741046369464e-12,1.0045142193207331e-13,6.776159926933391e-13,1.5477264859359876e-12,2.5051776407480045e-12,1.2654528590794328e-14,1.0899716984471634e-09,5.126670157426583e-09,-5.037209755384242e-09,-3.7392762007947915e-10,-1.0402651707171742e-09,-3.304234838649701e-09,3.059476187664256e-09,3.552518299653901e-10,-5.384658762533256e-17,8.237958649981173e-17,6.737132924272025e-15,-2.167428101234358e-15,1.3566944024520664e-16,-3.7385714355885885e-08],"joint_position_rad":[-1.985510323569711,-1.5821556794153573,1.3167354078238178,-1.3053760552033709,-1.5707963267948961,-0.4147139967748237],"joint_velocity_rad_s":[1.6023741046369464e-12,1.0045142193207331e-13,6.776159926933391e-13,1.5477264859359876e-12,2.5051776407480045e-12,1.2654528590794328e-14],"linkage_position_rad":[0.002933611173655236,0.00015630157157425786,0.0031934794577738934,-0.00342929894250104,0.0029336110727612363,0.00015630110211694136,0.0031978493933123996,-0.00343799689002338],"tcp_position_m":[0.06812348610725215,0.4873046189502935,0.4350000000000064],"tcp_quaternion_wxyz":[-2.6764690231907137e-15,0.7071067811865439,0.7071067811865508,6.3033418361648715e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,5.679235448317054e-17,4.058511653717377e-17,-2.733264029529671e-07],"object_linear_velocity_m_s":[-5.384658762533256e-17,8.237958649981173e-17,6.737132924272025e-15],"object_angular_velocity_rad_s":[-2.167428030104563e-15,1.35670629322286e-16,-3.738571435588594e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221312679,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.310202748889674,-1.5707950793627246,-0.41471399677482096,0.0],"actuator_force":[-6.543814379256219e-10,-19.807843877893447,-20.28858510043665,-2.4133468433062717,0.0006237158351041217,8.526512829121202e-14,-0.29336111256935626],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.919999999998918,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.939999999998943,"qpos":[-1.9855103235697147,-1.5821556794153573,1.3167354078238167,-1.3053760552033744,-1.5707963267949019,-0.4147139967748237,0.0029336111705932037,0.00015630155758734828,0.0031934794718762208,-0.0034292989421633242,0.0029336110756995547,0.00015630111099787056,0.0031978493849631373,-0.00343799689066539,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,4.979925974581923e-17,3.573456469795114e-17,-2.7372712152881743e-07],"qvel":[2.448097051649316e-12,8.84473769273673e-14,9.52698994080223e-13,3.2891489392966833e-12,6.608814443533643e-12,1.854589972438292e-14,8.742132673600107e-10,5.049561911302246e-09,-4.76071977134158e-09,-5.38069799702228e-10,-7.211573082155673e-10,-3.2457824144140567e-09,3.004665262482478e-09,3.350313382270967e-10,-5.681233407983723e-17,9.18778060895001e-17,5.814260035052362e-15,1.5421246128745577e-15,1.596331881591997e-16,-6.825687334516139e-08],"joint_position_rad":[-1.9855103235697147,-1.5821556794153573,1.3167354078238167,-1.3053760552033744,-1.5707963267949019,-0.4147139967748237],"joint_velocity_rad_s":[2.448097051649316e-12,8.84473769273673e-14,9.52698994080223e-13,3.2891489392966833e-12,6.608814443533643e-12,1.854589972438292e-14],"linkage_position_rad":[0.0029336111705932037,0.00015630155758734828,0.0031934794718762208,-0.0034292989421633242,0.0029336110756995547,0.00015630111099787056,0.0031978493849631373,-0.00343799689066539],"tcp_position_m":[0.06812348610725574,0.48730461895029337,0.43500000000000727],"tcp_quaternion_wxyz":[-8.583455736576502e-16,0.7071067811865452,0.7071067811865495,9.494140706880727e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,4.979925974581923e-17,3.573456469795114e-17,-2.7372712152881743e-07],"object_linear_velocity_m_s":[-5.681233407983723e-17,9.18778060895001e-17,5.814260035052362e-15],"object_angular_velocity_rad_s":[1.542124695387938e-15,1.5963235071479824e-16,-6.82568733451615e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221268152,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.3065911152737353,-1.3102027488896744,-1.570795079362724,-0.41471399677482074,0.0],"actuator_force":[-9.849827620200813e-10,-19.8078438778889,-20.28858510054397,-2.413346843478962,0.0006237154281052426,-3.694822225952521e-13,-0.29336111307991775],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.939999999998943,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.959999999998967,"qpos":[-1.9855103235697165,-1.5821556794153573,1.316735407823816,-1.3053760552033795,-1.5707963267949157,-0.4147139967748237,0.002933611171357231,0.00015630156086768364,0.0031934794686773195,-0.0034292989420721598,0.0029336110745957133,0.00015630110906818002,0.0031978493860852744,-0.003437996890256158,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,4.0802520365375603e-17,2.6607587558316027e-17,-2.7398603610819316e-07],"qvel":[1.9592490366473097e-13,5.6044741093232793e-14,-1.1436768745613666e-13,1.5110287785719517e-12,4.288095344099515e-12,2.1870812592563952e-14,2.5599394205771514e-11,4.1322382787345647e-10,-3.26946455153205e-10,8.313912236006351e-12,1.0309905387389021e-10,-2.702508417065743e-10,3.272479634744133e-10,-5.446209361059184e-11,-3.319290541035264e-17,5.03238624869527e-17,5.4589886671723125e-15,-1.8330304648486176e-15,-1.32698461244642e-15,-7.395073259983782e-09],"joint_position_rad":[-1.9855103235697165,-1.5821556794153573,1.316735407823816,-1.3053760552033795,-1.5707963267949157,-0.4147139967748237],"joint_velocity_rad_s":[1.9592490366473097e-13,5.6044741093232793e-14,-1.1436768745613666e-13,1.5110287785719517e-12,4.288095344099515e-12,2.1870812592563952e-14],"linkage_position_rad":[0.002933611171357231,0.00015630156086768364,0.0031934794686773195,-0.0034292989420721598,0.0029336110745957133,0.00015630110906818002,0.0031978493860852744,-0.003437996890256158],"tcp_position_m":[0.06812348610726031,0.48730461895029314,0.43500000000000816],"tcp_quaternion_wxyz":[4.500699802480556e-15,0.7071067811865456,0.7071067811865489,1.470964610102809e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,4.0802520365375603e-17,2.6607587558316027e-17,-2.7398603610819316e-07],"object_linear_velocity_m_s":[-3.319290541035264e-17,5.03238624869527e-17,5.4589886671723125e-15],"object_angular_velocity_rad_s":[-1.833031192392384e-15,-1.3269836073932455e-15,-7.395073259983795e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221282849,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.3102027488896741,-1.5707950793627241,-0.41471399677482057,0.0],"actuator_force":[-8.049028110690415e-11,-19.80784387787571,-20.28858510011605,-2.4133468432984273,0.0006237156668476018,-6.252776074688882e-13,-0.2933611129411394],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153433,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482035],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.959999999998967,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153433,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.97999999999899,"qpos":[-1.9855103235697158,-1.5821556794153573,1.3167354078238165,-1.3053760552033802,-1.5707963267949188,-0.4147139967748237,0.0029336111717880586,0.00015630156171063834,0.0031934794672028857,-0.0034292989417266002,0.0029336110740256676,0.00015630110857440543,0.0031978493868582186,-0.0034379968903940853,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999634,3.5151431228079783e-17,3.924804218935349e-17,-2.744587487460587e-07],"qvel":[-4.960000475480445e-12,3.932089587414585e-14,-1.3719388232559016e-12,-9.862163086099875e-12,-2.327565369377305e-11,-6.779783435502575e-15,-1.763307756652535e-09,-9.525507909328793e-09,9.02470196393252e-09,8.476344202960126e-10,1.1577280798843629e-09,6.2367049099700204e-09,-6.206244145837337e-09,-3.939726068751648e-10,-4.874161720830969e-17,4.43511809264886e-17,5.345190807148233e-15,-1.6433721139867884e-15,-1.1960171975638342e-15,-1.3501536284147224e-08],"joint_position_rad":[-1.9855103235697158,-1.5821556794153573,1.3167354078238165,-1.3053760552033802,-1.5707963267949188,-0.4147139967748237],"joint_velocity_rad_s":[-4.960000475480445e-12,3.932089587414585e-14,-1.3719388232559016e-12,-9.862163086099875e-12,-2.327565369377305e-11,-6.779783435502575e-15],"linkage_position_rad":[0.0029336111717880586,0.00015630156171063834,0.0031934794672028857,-0.0034292989417266002,0.0029336110740256676,0.00015630110857440543,0.0031978493868582186,-0.0034379968903940853],"tcp_position_m":[0.06812348610726082,0.487304618950293,0.43500000000000794],"tcp_quaternion_wxyz":[5.933973592767409e-15,0.7071067811865457,0.707106781186549,1.5338825246322263e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999634,3.5151431228079783e-17,3.924804218935349e-17,-2.744587487460587e-07],"object_linear_velocity_m_s":[-4.874161720830969e-17,4.43511809264886e-17,5.345190807148233e-15],"object_angular_velocity_rad_s":[-1.6433727715611287e-15,-1.1960162945387514e-15,-1.350153628414725e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287684,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697171,-1.5920596013542831,1.3065911152737337,-1.3102027488896737,-1.5707950793627243,-0.41471399677482035,0.0],"actuator_force":[1.981334207812324e-09,-19.807843877867526,-20.28858509961674,-2.4133468421605357,0.0006237184246629113,2.3305801732931286e-12,-0.2933611092627879],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.97999999999899,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.999999999999016,"qpos":[-1.9855103235697127,-1.5821556794153573,1.3167354078238174,-1.3053760552033715,-1.5707963267948974,-0.4147139967748237,0.002933611171521685,0.00015630156264865032,0.003193479467103838,-0.003429298942732565,0.002933611074871219,0.0001563011077641075,0.003197849387888848,-0.003437996890261363,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,4.6804661988029176e-17,6.444152687146006e-17,-2.749336809177688e-07],"qvel":[2.1765048360877012e-12,1.034755507399676e-13,8.851564008041015e-13,2.4802576602267494e-12,4.5399247573085735e-12,1.563263541069735e-14,1.0576029851235817e-09,5.5018057149843134e-09,-5.288653745916884e-09,-5.035876226469965e-10,-9.590566446657242e-10,-3.533235357773998e-09,3.251046778250226e-09,3.8532559637482864e-10,-8.460061735958161e-17,6.445255173324011e-17,6.055733542908334e-15,-5.456324957107468e-16,-2.3820430215281647e-16,-2.4650395692302404e-08],"joint_position_rad":[-1.9855103235697127,-1.5821556794153573,1.3167354078238174,-1.3053760552033715,-1.5707963267948974,-0.4147139967748237],"joint_velocity_rad_s":[2.1765048360877012e-12,1.034755507399676e-13,8.851564008041015e-13,2.4802576602267494e-12,4.5399247573085735e-12,1.563263541069735e-14],"linkage_position_rad":[0.002933611171521685,0.00015630156264865032,0.003193479467103838,-0.003429298942732565,0.002933611074871219,0.0001563011077641075,0.003197849387888848,-0.003437996890261363],"tcp_position_m":[0.06812348610725341,0.48730461895029314,0.43500000000000677],"tcp_quaternion_wxyz":[-2.3026494710874725e-15,0.7071067811865445,0.70710678118655,6.991179880004867e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,4.6804661988029176e-17,6.444152687146006e-17,-2.749336809177688e-07],"object_linear_velocity_m_s":[-8.460061735958161e-17,6.445255173324011e-17,6.055733542908334e-15],"object_angular_velocity_rad_s":[-5.456326298684533e-16,-2.382039998197718e-16,-2.4650395692302404e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221283365,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.570795079362724,-0.41471399677482074,0.0],"actuator_force":[-8.799361239653081e-10,-19.8078438778939,-20.288585100520322,-2.413346843399154,0.0006237156327415505,-8.526512829121202e-14,-0.2933611128123769],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.999999999999016,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.01999999999904,"qpos":[-1.985510323569716,-1.5821556794153573,1.316735407823816,-1.3053760552033769,-1.5707963267949099,-0.4147139967748237,0.0029336111716740396,0.00015630156298363147,0.0031934794667413465,-0.0034292989422888814,0.002933611074433002,0.00015630110770662806,0.0031978493873937746,-0.003437996890158832,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,5.0757561193401196e-17,6.894354327103532e-17,-2.753366978775378e-07],"qvel":[1.161205429587238e-12,6.325289917737414e-14,3.1114433901876606e-13,2.495634335628418e-12,6.0055522364930365e-12,2.239954779333997e-14,4.424361255395558e-10,2.544405587973801e-09,-2.439612751111762e-09,-1.4966508109045043e-10,-2.875881172982888e-10,-1.6477018614740878e-09,1.6287715295242778e-09,7.741288714926083e-11,-1.0524448472568807e-16,8.128800388569731e-17,6.3138603961336826e-15,7.117246835903481e-16,5.183988530303336e-16,-4.5005397533950455e-08],"joint_position_rad":[-1.985510323569716,-1.5821556794153573,1.316735407823816,-1.3053760552033769,-1.5707963267949099,-0.4147139967748237],"joint_velocity_rad_s":[1.161205429587238e-12,6.325289917737414e-14,3.1114433901876606e-13,2.495634335628418e-12,6.0055522364930365e-12,2.239954779333997e-14],"linkage_position_rad":[0.0029336111716740396,0.00015630156298363147,0.0031934794667413465,-0.0034292989422888814,0.002933611074433002,0.00015630110770662806,0.0031978493873937746,-0.003437996890158832],"tcp_position_m":[0.06812348610725853,0.487304618950293,0.43500000000000777],"tcp_quaternion_wxyz":[2.297979787710734e-15,0.7071067811865456,0.7071067811865489,1.2317399160861565e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,5.0757561193401196e-17,6.894354327103532e-17,-2.753366978775378e-07],"object_linear_velocity_m_s":[-1.0524448472568807e-16,8.128800388569731e-17,6.3138603961336826e-15],"object_angular_velocity_rad_s":[7.117249628530352e-16,5.18398465671137e-16,-4.500539753395047e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221288242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737348,-1.310202748889674,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-4.670255293603987e-10,-19.807843877877986,-20.288585100287037,-2.4133468433981307,0.0006237154923383059,-6.536993168992922e-13,-0.2933611130795921],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948963,-0.4147139967748212],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.01999999999904,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948963,-0.4147139967748212],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.039999999999065,"qpos":[-1.9855103235697187,-1.5821556794153573,1.3167354078238156,-1.3053760552033822,-1.570796326794922,-0.4147139967748237,0.0029336111709472403,0.00015630155773200627,0.0031934794712357604,-0.0034292989415412433,0.0029336110748216957,0.00015630111115054552,0.0031978493843685517,-0.003437996890575835,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,4.844141513596939e-17,6.176874287617076e-17,-2.7569145045936933e-07],"qvel":[-1.7115177331429157e-12,5.595307998683878e-14,-7.682817661311355e-13,-1.7226549515155736e-12,-2.9725404724913725e-12,1.2014441462797202e-14,-7.177929752435349e-10,-3.549484416863243e-09,3.5327811334952237e-09,2.5031115154733025e-10,6.750117967718861e-10,2.293371513466748e-09,-2.1820264204566003e-09,-2.0368025178760763e-10,-1.1912885812694107e-16,9.986510374206479e-17,6.501210531539177e-15,2.1605777570214802e-15,1.8716513020573434e-15,-8.216849061863877e-08],"joint_position_rad":[-1.9855103235697187,-1.5821556794153573,1.3167354078238156,-1.3053760552033822,-1.570796326794922,-0.4147139967748237],"joint_velocity_rad_s":[-1.7115177331429157e-12,5.595307998683878e-14,-7.682817661311355e-13,-1.7226549515155736e-12,-2.9725404724913725e-12,1.2014441462797202e-14],"linkage_position_rad":[0.0029336111709472403,0.00015630155773200627,0.0031934794712357604,-0.0034292989415412433,0.0029336110748216957,0.00015630111115054552,0.0031978493843685517,-0.003437996890575835],"tcp_position_m":[0.06812348610726338,0.48730461895029303,0.4350000000000086],"tcp_quaternion_wxyz":[7.0671150282287845e-15,0.7071067811865467,0.707106781186548,1.7308579006304644e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,4.844141513596939e-17,6.176874287617076e-17,-2.7569145045936933e-07],"object_linear_velocity_m_s":[-1.1912885812694107e-16,9.986510374206479e-17,6.501210531539177e-15],"object_angular_velocity_rad_s":[2.1605787788667906e-15,1.8716501187121474e-15,-8.216849061863881e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221275439,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737348,-1.3102027488896741,-1.570795079362724,-0.4147139967748212,0.0],"actuator_force":[6.862137524876744e-10,-19.807843877874802,-20.288585099854117,-2.4133468429737377,0.0006237163963760395,5.684341886080802e-14,-0.2933611120745409],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.039999999999065,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.05999999999909,"qpos":[-1.985510323569712,-1.582155679415357,1.3167354078238176,-1.3053760552033697,-1.5707963267948946,-0.4147139967748237,0.0029336111725666194,0.000156301567787719,0.003193479462165781,-0.0034292989432357264,0.00293361107388446,0.00015630110446673165,0.003197849390876414,-0.0034379968898425543,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,4.275065443560582e-17,5.0154188737770366e-17,-2.760031351168086e-07],"qvel":[1.767750240287977e-12,1.1107861795696679e-13,7.410494706938139e-13,1.6966319583767372e-12,2.7430972267918504e-12,1.2522327072917284e-14,1.1715453091232377e-09,5.566974559888455e-09,-5.440947169365648e-09,-4.2732988753439425e-10,-1.1161353787576228e-09,-3.5755749873933198e-09,3.290846575639792e-09,3.9589816603241626e-10,-6.234828950022756e-17,5.197952710313488e-17,6.619171727905599e-15,-1.632386882377527e-15,-2.296534812375853e-15,-8.902283067001805e-09],"joint_position_rad":[-1.985510323569712,-1.582155679415357,1.3167354078238176,-1.3053760552033697,-1.5707963267948946,-0.4147139967748237],"joint_velocity_rad_s":[1.767750240287977e-12,1.1107861795696679e-13,7.410494706938139e-13,1.6966319583767372e-12,2.7430972267918504e-12,1.2522327072917284e-14],"linkage_position_rad":[0.0029336111725666194,0.000156301567787719,0.003193479462165781,-0.0034292989432357264,0.00293361107388446,0.00015630110446673165,0.003197849390876414,-0.0034379968898425543],"tcp_position_m":[0.06812348610725213,0.4873046189502928,0.43500000000000605],"tcp_quaternion_wxyz":[-3.238517908949168e-15,0.7071067811865438,0.7071067811865502,5.53271760935892e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,4.275065443560582e-17,5.0154188737770366e-17,-2.760031351168086e-07],"object_linear_velocity_m_s":[-6.234828950022756e-17,5.197952710313488e-17,6.619171727905599e-15],"object_angular_velocity_rad_s":[-1.6323881509718692e-15,-2.2965339105265528e-15,-8.902283067001812e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221299119,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697171,-1.5920596013542834,1.306591115273734,-1.3102027488896737,-1.570795079362724,-0.41471399677482096,0.0],"actuator_force":[-7.175913196988404e-10,-19.807843877897085,-20.288585100463933,-2.4133468433216194,0.0006237158110025121,1.1368683772161603e-13,-0.2933611125996037],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033706,-1.5707963267948963,-0.4147139967748204],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.05999999999909,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033706,-1.5707963267948963,-0.4147139967748204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.079999999999114,"qpos":[-1.9855103235697156,-1.582155679415357,1.316735407823816,-1.3053760552033746,-1.5707963267949048,-0.4147139967748237,0.0029336111722699275,0.00015630156630873615,0.003193479463569823,-0.0034292989425702787,0.002933611073966297,0.00015630110555832127,0.003197849389430943,-0.0034379968899700673,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,4.215040859503178e-17,5.699613538016228e-17,-2.764525576846936e-07],"qvel":[1.5311133827606483e-12,6.928602481799056e-14,5.279898174115547e-13,2.4665680665463375e-12,5.43822256087451e-12,2.0728282271818112e-14,7.22607312149096e-10,3.753046254556622e-09,-3.6859150337694004e-09,-2.1035558788663047e-10,-5.939285386304967e-10,-2.425580544846663e-09,2.346662190812332e-09,1.6633297941187368e-10,-7.285193759848773e-17,5.2396484970898795e-17,6.698275118410143e-15,-1.5012456723051516e-15,-1.6872351604893893e-15,-1.6253320773882907e-08],"joint_position_rad":[-1.9855103235697156,-1.582155679415357,1.316735407823816,-1.3053760552033746,-1.5707963267949048,-0.4147139967748237],"joint_velocity_rad_s":[1.5311133827606483e-12,6.928602481799056e-14,5.279898174115547e-13,2.4665680665463375e-12,5.43822256087451e-12,2.0728282271818112e-14],"linkage_position_rad":[0.0029336111722699275,0.00015630156630873615,0.003193479463569823,-0.0034292989425702787,0.002933611073966297,0.00015630110555832127,0.003197849389430943,-0.0034379968899700673],"tcp_position_m":[0.06812348610725702,0.48730461895029303,0.4350000000000078],"tcp_quaternion_wxyz":[3.146343913978231e-16,0.7071067811865454,0.7071067811865489,1.041255838748284e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,4.215040859503178e-17,5.699613538016228e-17,-2.764525576846936e-07],"object_linear_velocity_m_s":[-7.285193759848773e-17,5.2396484970898795e-17,6.698275118410143e-15],"object_angular_velocity_rad_s":[-1.5012466070386273e-15,-1.6872343290725526e-15,-1.625332077388292e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221297558,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.306591115273735,-1.3102027488896741,-1.570795079362724,-0.4147139967748204,0.0],"actuator_force":[-6.166374078020453e-10,-19.80784387788117,-20.288585100372984,-2.413346843396539,0.0006237155465669275,-4.547473508864641e-13,-0.2933611129552051],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.079999999999114,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.099999999999138,"qpos":[-1.9855103235697193,-1.582155679415357,1.3167354078238152,-1.3053760552033802,-1.5707963267949179,-0.4147139967748237,0.002933611170772527,0.00015630155752336379,0.003193479471678119,-0.0034292989416932896,0.002933611075136814,0.00015630111127105408,0.0031978493842662135,-0.0034379968905784175,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,4.689026250669924e-17,6.346983859600075e-17,-2.7689897362436406e-07],"qvel":[2.741696358788875e-13,5.457082154375025e-14,-9.60777152816754e-14,1.6846967315596237e-12,4.721285274148071e-12,2.0295632310265507e-14,-4.1528502054002246e-11,2.64243589479711e-10,-1.0613780328086419e-10,-8.45824056319661e-11,1.8460864270186864e-10,-1.863582287114461e-10,2.2887680014521197e-10,-2.168843581840088e-11,-8.756731962483852e-17,6.555092438736718e-17,6.773215172572343e-15,-4.256101555377806e-16,-7.057668849367167e-16,-2.9674459258426274e-08],"joint_position_rad":[-1.9855103235697193,-1.582155679415357,1.3167354078238152,-1.3053760552033802,-1.5707963267949179,-0.4147139967748237],"joint_velocity_rad_s":[2.741696358788875e-13,5.457082154375025e-14,-9.60777152816754e-14,1.6846967315596237e-12,4.721285274148071e-12,2.0295632310265507e-14],"linkage_position_rad":[0.002933611170772527,0.00015630155752336379,0.003193479471678119,-0.0034292989416932896,0.002933611075136814,0.00015630111127105408,0.0031978493842662135,-0.0034379968905784175],"tcp_position_m":[0.06812348610726239,0.48730461895029276,0.4350000000000083],"tcp_quaternion_wxyz":[5.2898582467609464e-15,0.7071067811865467,0.7071067811865478,1.5688331470705184e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,4.689026250669924e-17,6.346983859600075e-17,-2.7689897362436406e-07],"object_linear_velocity_m_s":[-8.756731962483852e-17,6.555092438736718e-17,6.773215172572343e-15],"object_angular_velocity_rad_s":[-4.256105501568334e-16,-7.057666464516914e-16,-2.9674459258426307e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221273285,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.592059601354284,1.306591115273735,-1.310202748889674,-1.570795079362724,-0.41471399677482096,0.0],"actuator_force":[-1.064108801074326e-10,-19.80784387787571,-20.28858510012151,-2.4133468433153666,0.0006237156247834719,-6.536993168992922e-13,-0.2933611130108677],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.099999999999138,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.119999999999163,"qpos":[-1.985510323569718,-1.582155679415357,1.3167354078238156,-1.3053760552033802,-1.57079632679492,-0.4147139967748237,0.0029336111705079737,0.00015630155696937342,0.003193479472543023,-0.00342929894241068,0.00293361107528021,0.00015630111150987614,0.00319784938382843,-0.0034379968902340393,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,6.23806786668549e-17,6.949572701196334e-17,-2.773221426070136e-07],"qvel":[-5.384858355895541e-12,3.3667683492707007e-14,-1.494778397517495e-12,-1.0749706005302203e-11,-2.5344659403714666e-11,-1.2498231800292117e-14,-1.9400316739852823e-09,-1.0428220259376167e-08,9.903514459791162e-09,9.075794032078225e-10,1.273763523032589e-09,6.793251335245909e-09,-6.775340651903031e-09,-4.176251974954814e-10,-1.1773754814734455e-16,1.1290489701873963e-16,6.8981152628426755e-15,2.8262262028284332e-15,1.6625911582120973e-15,-5.4178068871622055e-08],"joint_position_rad":[-1.985510323569718,-1.582155679415357,1.3167354078238156,-1.3053760552033802,-1.57079632679492,-0.4147139967748237],"joint_velocity_rad_s":[-5.384858355895541e-12,3.3667683492707007e-14,-1.494778397517495e-12,-1.0749706005302203e-11,-2.5344659403714666e-11,-1.2498231800292117e-14],"linkage_position_rad":[0.0029336111705079737,0.00015630155696937342,0.003193479472543023,-0.00342929894241068,0.00293361107528021,0.00015630111150987614,0.00319784938382843,-0.0034379968902340393],"tcp_position_m":[0.06812348610726232,0.48730461895029265,0.4350000000000082],"tcp_quaternion_wxyz":[6.317800679611465e-15,0.7071067811865464,0.7071067811865481,1.5879661579034695e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,6.23806786668549e-17,6.949572701196334e-17,-2.773221426070136e-07],"object_linear_velocity_m_s":[-1.1773754814734455e-16,1.1290489701873963e-16,6.8981152628426755e-15],"object_angular_velocity_rad_s":[2.8262271174444e-15,1.6625895974209634e-15,-5.417806887162213e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322127121,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.3102027488896737,-1.5707950793627241,-0.4147139967748211,0.0],"actuator_force":[2.154592948500067e-09,-19.807843877866617,-20.28858509956399,-2.4133468420717463,0.0006237186323687638,2.5295321393059567e-12,-0.2933611089580684],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.119999999999163,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.139999999999187,"qpos":[-1.9855103235697147,-1.582155679415357,1.3167354078238163,-1.3053760552033722,-1.5707963267949008,-0.4147139967748237,0.0029336111730609337,0.00015630157026073297,0.003193479459701878,-0.0034292989428574548,0.002933611073266845,0.00015630110300082444,0.0031978493918708977,-0.003437996889724053,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,6.811534519843748e-17,6.382467241905022e-17,-2.776261666016135e-07],"qvel":[1.5299076423991078e-12,7.610338242885172e-14,5.827059400058626e-13,2.0204552309916332e-12,4.095612569435442e-12,1.6484278908871614e-14,9.078119534139433e-10,4.34785885397452e-09,-4.340893612156003e-09,-2.073893193007803e-10,-8.176484082710249e-10,-2.8078473778208256e-09,2.695452586430071e-09,2.1498882489662386e-10,-1.6229154841381883e-16,2.3208860883193133e-16,7.027178689455351e-15,1.1271660825406792e-14,5.109054386981202e-15,-9.891547209322274e-08],"joint_position_rad":[-1.9855103235697147,-1.582155679415357,1.3167354078238163,-1.3053760552033722,-1.5707963267949008,-0.4147139967748237],"joint_velocity_rad_s":[1.5299076423991078e-12,7.610338242885172e-14,5.827059400058626e-13,2.0204552309916332e-12,4.095612569435442e-12,1.6484278908871614e-14],"linkage_position_rad":[0.0029336111730609337,0.00015630157026073297,0.003193479459701878,-0.0034292989428574548,0.002933611073266845,0.00015630110300082444,0.0031978493918708977,-0.003437996889724053],"tcp_position_m":[0.06812348610725524,0.48730461895029287,0.43500000000000716],"tcp_quaternion_wxyz":[-9.941589646869287e-16,0.707106781186545,0.7071067811865492,8.456679632273788e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,6.811534519843748e-17,6.382467241905022e-17,-2.776261666016135e-07],"object_linear_velocity_m_s":[-1.6229154841381883e-16,2.3208860883193133e-16,7.027178689455351e-15],"object_angular_velocity_rad_s":[1.127166364959295e-14,5.109048141839777e-15,-9.89154720932229e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221309018,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.592059601354284,1.306591115273735,-1.310202748889674,-1.5707950793627243,-0.41471399677482085,0.0],"actuator_force":[-6.180016498547047e-10,-19.807843877884352,-20.28858510039572,-2.4133468433528833,0.0006237156785573461,-2.2737367544323206e-13,-0.29336111276720667],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.139999999999187,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.15999999999921,"qpos":[-1.9855103235697185,-1.582155679415357,1.3167354078238152,-1.3053760552033775,-1.5707963267949108,-0.4147139967748237,0.0029336111710570258,0.00015630155965294686,0.0031934794698036954,-0.0034292989420228147,0.0029336110750231904,0.00015630110985889454,0.003197849385618963,-0.003437996890438497,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,8.591395736819738e-17,6.211018591927666e-17,-2.7800137654891456e-07],"qvel":[1.3090933213857657e-12,6.133310006292507e-14,3.664904200176445e-13,2.7417765796025615e-12,6.554847665881822e-12,2.1773870972104274e-14,4.098273416066693e-10,2.5961988275738765e-09,-2.408187474882881e-09,-2.5424064879188006e-10,-2.381937851836474e-10,-1.6880386828455325e-09,1.6349853050320878e-09,1.2049741591912188e-10,-7.651491023084375e-17,1.0177410652604798e-16,7.12154764654849e-15,-2.5376240902458154e-15,-2.5079885606600086e-15,-1.0716681365937606e-08],"joint_position_rad":[-1.9855103235697185,-1.582155679415357,1.3167354078238152,-1.3053760552033775,-1.5707963267949108,-0.4147139967748237],"joint_velocity_rad_s":[1.3090933213857657e-12,6.133310006292507e-14,3.664904200176445e-13,2.7417765796025615e-12,6.554847665881822e-12,2.1773870972104274e-14],"linkage_position_rad":[0.0029336111710570258,0.00015630155965294686,0.0031934794698036954,-0.0034292989420228147,0.0029336110750231904,0.00015630110985889454,0.003197849385618963,-0.003437996890438497],"tcp_position_m":[0.0681234861072601,0.48730461895029303,0.43500000000000827],"tcp_quaternion_wxyz":[2.507349654461317e-15,0.7071067811865462,0.707106781186548,1.3252359049670638e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,8.591395736819738e-17,6.211018591927666e-17,-2.7800137654891456e-07],"object_linear_velocity_m_s":[-7.651491023084375e-17,1.0177410652604798e-16,7.12154764654849e-15],"object_angular_velocity_rad_s":[-2.537625486025202e-15,-2.5079871478922197e-15,-1.0716681365937626e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221278082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.592059601354284,1.306591115273735,-1.3102027488896741,-1.570795079362724,-0.41471399677482074,0.0],"actuator_force":[-5.220499588176608e-10,-19.80784387787844,-20.28858510030659,-2.4133468434225733,0.0006237154378823107,-7.105427357601002e-13,-0.29336111316217856],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.15999999999921,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.179999999999236,"qpos":[-1.98551032356972,-1.582155679415357,1.3167354078238145,-1.3053760552033824,-1.5707963267949228,-0.4147139967748237,0.0029336111695873507,0.00015630155261912976,0.003193479476967695,-0.0034292989422298223,0.002933611076152708,0.0001563011142880668,0.0031978493811325747,-0.003437996890430558,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999623,1.001183076975542e-16,5.854984838536152e-17,-2.784815378998409e-07],"qvel":[-1.844509877921239e-12,5.352581520013353e-14,-8.354666532489745e-13,-1.8697475950735906e-12,-3.223231676711439e-12,1.3387216719033345e-14,-7.953771961571791e-10,-3.896988754178727e-09,3.901302021523514e-09,2.565107100122403e-10,7.48972423000034e-10,2.5033631336055955e-09,-2.395619643864076e-09,-2.1460829905854182e-10,-7.522070593067034e-17,1.251807097267384e-16,7.265876639749757e-15,-2.281374001336339e-15,-1.9640714407770277e-15,-1.9565953875104092e-08],"joint_position_rad":[-1.98551032356972,-1.582155679415357,1.3167354078238145,-1.3053760552033824,-1.5707963267949228,-0.4147139967748237],"joint_velocity_rad_s":[-1.844509877921239e-12,5.352581520013353e-14,-8.354666532489745e-13,-1.8697475950735906e-12,-3.223231676711439e-12,1.3387216719033345e-14],"linkage_position_rad":[0.0029336111695873507,0.00015630155261912976,0.003193479476967695,-0.0034292989422298223,0.002933611076152708,0.0001563011142880668,0.0031978493811325747,-0.003437996890430558],"tcp_position_m":[0.0681234861072641,0.48730461895029287,0.43500000000000894],"tcp_quaternion_wxyz":[7.119767366657244e-15,0.7071067811865467,0.7071067811865474,1.7910763705272425e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999623,1.001183076975542e-16,5.854984838536152e-17,-2.784815378998409e-07],"object_linear_velocity_m_s":[-7.522070593067034e-17,1.251807097267384e-16,7.265876639749757e-15],"object_angular_velocity_rad_s":[-2.2813750975424262e-15,-1.9640701662178253e-15,-1.956595387510413e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221257556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737342,-1.3102027488896737,-1.5707950793627237,-0.4147139967748209,0.0],"actuator_force":[7.426024239975959e-10,-19.807843877874348,-20.288585099826378,-2.413346842958731,0.0006237164218418911,5.684341886080802e-14,-0.29336111205497906],"issued_joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.179999999999236,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.19999999999926,"qpos":[-1.9855103235697136,-1.582155679415357,1.3167354078238167,-1.305376055203371,-1.5707963267948972,-0.4147139967748237,0.002933611173977072,0.0001563015744593559,0.0031934794555164626,-0.003429298943094388,0.0029336110724069893,0.00015630110028997497,0.003197849394431191,-0.0034379968894690236,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,9.92899092674827e-17,6.68718339800794e-17,-2.788981476314242e-07],"qvel":[1.3275102352318922e-12,8.447749799360337e-14,5.284197414247694e-13,1.4645522851852025e-12,2.6781059438632535e-12,1.5510218162710652e-14,1.0230252160155572e-09,4.540810839653202e-09,-4.602466294120726e-09,-1.642714487771859e-10,-9.68736973594859e-10,-2.9331458165523645e-09,2.8143182100730627e-09,2.3182725456015024e-10,-9.657672353218634e-17,1.3452817834588083e-16,6.669131764013736e-15,-7.330185916907028e-16,2.8905074681022865e-16,-3.572249075716074e-08],"joint_position_rad":[-1.9855103235697136,-1.582155679415357,1.3167354078238167,-1.305376055203371,-1.5707963267948972,-0.4147139967748237],"joint_velocity_rad_s":[1.3275102352318922e-12,8.447749799360337e-14,5.284197414247694e-13,1.4645522851852025e-12,2.6781059438632535e-12,1.5510218162710652e-14],"linkage_position_rad":[0.002933611173977072,0.0001563015744593559,0.0031934794555164626,-0.003429298943094388,0.0029336110724069893,0.00015630110028997497,0.003197849394431191,-0.0034379968894690236],"tcp_position_m":[0.06812348610725362,0.4873046189502931,0.4350000000000068],"tcp_quaternion_wxyz":[-2.4877143592211998e-15,0.7071067811865446,0.7071067811865497,7.041628860673707e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,9.92899092674827e-17,6.68718339800794e-17,-2.788981476314242e-07],"object_linear_velocity_m_s":[-9.657672353218634e-17,1.3452817834588083e-16,6.669131764013736e-15],"object_angular_velocity_rad_s":[-7.330184352368081e-16,2.8905116277900553e-16,-3.572249075716074e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221321837,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697171,-1.5920596013542834,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[-5.384208634495735e-10,-19.80784387788617,-20.288585100376622,-2.413346843297745,0.0006237158186195302,-5.684341886080802e-14,-0.29336111259064424],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.19999999999926,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.219999999999285,"qpos":[-1.9855103235697165,-1.582155679415357,1.3167354078238156,-1.305376055203375,-1.570796326794904,-0.4147139967748237,0.0029336111716482187,0.00015630156315276012,0.003193479466538456,-0.003429298942403036,0.00293361107457492,0.00015630110759559036,0.00319784938773304,-0.003437996890202763,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,8.694866026000103e-17,5.2073434821493595e-17,-2.7928103895418384e-07],"qvel":[1.69957072137571e-12,7.128224325776175e-14,5.959500988295201e-13,2.7082986232135662e-12,5.930195965532841e-12,1.8760121393456655e-14,7.139957014452573e-10,3.9231993693101605e-09,-3.76993126039933e-09,-3.172915673183036e-10,-5.708543223084792e-10,-2.5387588344704484e-09,2.4133914376035e-09,2.1648516495948556e-10,-7.439295329606653e-17,1.437185999129606e-16,6.415168247130732e-15,3.7395539688900125e-16,-1.4217625739313283e-15,-6.52202470701385e-08],"joint_position_rad":[-1.9855103235697165,-1.582155679415357,1.3167354078238156,-1.305376055203375,-1.570796326794904,-0.4147139967748237],"joint_velocity_rad_s":[1.69957072137571e-12,7.128224325776175e-14,5.959500988295201e-13,2.7082986232135662e-12,5.930195965532841e-12,1.8760121393456655e-14],"linkage_position_rad":[0.0029336111716482187,0.00015630156315276012,0.003193479466538456,-0.003429298942403036,0.00293361107457492,0.00015630110759559036,0.00319784938773304,-0.003437996890202763],"tcp_position_m":[0.06812348610725716,0.48730461895029326,0.4350000000000076],"tcp_quaternion_wxyz":[-1.1576864001358643e-16,0.7071067811865457,0.7071067811865486,1.0629240755195734e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,8.694866026000103e-17,5.2073434821493595e-17,-2.7928103895418384e-07],"object_linear_velocity_m_s":[-7.439295329606653e-17,1.437185999129606e-16,6.415168247130732e-15],"object_angular_velocity_rad_s":[3.7395459595380403e-16,-1.4217627714667823e-15,-6.522024707013852e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287718,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.306591115273735,-1.3102027488896744,-1.570795079362724,-0.4147139967748209,0.0],"actuator_force":[-6.816662789788097e-10,-19.807843877882533,-20.28858510039936,-2.413346843420527,0.0006237154971131531,-4.831690603168681e-13,-0.29336111302686385],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.219999999999285,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.23999999999931,"qpos":[-1.9855103235697207,-1.582155679415357,1.316735407823814,-1.3053760552033822,-1.5707963267949203,-0.4147139967748237,0.002933611171783916,0.00015630156044679983,0.0031934794681424713,-0.003429298940873084,0.002933611074045124,0.00015630110952424153,0.0031978493860382626,-0.003437996890727964,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,6.744662184410453e-17,2.849739241417875e-17,-2.7958443969743245e-07],"qvel":[1.8833099895366314e-13,3.970979417488833e-14,-1.5216150069057205e-13,1.80049432094123e-12,5.187785534912115e-12,2.1264647392597533e-14,-1.71943197813865e-10,-5.915276008078377e-10,6.633802371766452e-10,4.9226998711030677e-11,3.252513371745682e-10,3.6508253233115166e-10,-2.0218013843996696e-10,-1.43676109336621e-10,3.190137875184107e-17,1.6452910318876673e-16,6.508149425443089e-15,3.997166301712466e-15,-8.191060116094158e-15,-1.1907570098643179e-07],"joint_position_rad":[-1.9855103235697207,-1.582155679415357,1.316735407823814,-1.3053760552033822,-1.5707963267949203,-0.4147139967748237],"joint_velocity_rad_s":[1.8833099895366314e-13,3.970979417488833e-14,-1.5216150069057205e-13,1.80049432094123e-12,5.187785534912115e-12,2.1264647392597533e-14],"linkage_position_rad":[0.002933611171783916,0.00015630156044679983,0.0031934794681424713,-0.003429298940873084,0.002933611074045124,0.00015630110952424153,0.0031978493860382626,-0.003437996890727964],"tcp_position_m":[0.06812348610726376,0.487304618950293,0.43500000000000916],"tcp_quaternion_wxyz":[5.822895968561165e-15,0.7071067811865474,0.7071067811865467,1.7607513877565726e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,6.744662184410453e-17,2.849739241417875e-17,-2.7958443969743245e-07],"object_linear_velocity_m_s":[3.190137875184107e-17,1.6452910318876673e-16,6.508149425443089e-15],"object_angular_velocity_rad_s":[3.997161714739247e-15,-8.191062335121374e-15,-1.1907570098643184e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135132212849,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.306591115273735,-1.3102027488896744,-1.5707950793627243,-0.414713996774821,0.0],"actuator_force":[-6.957634468562901e-11,-19.807843877869345,-20.288585100096952,-2.413346843326167,0.0006237155791950499,-7.958078640513122e-13,-0.2933611130579927],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948966,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.23999999999931,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.259999999999334,"qpos":[-1.9855103235697191,-1.582155679415357,1.3167354078238152,-1.3053760552033828,-1.570796326794924,-0.4147139967748237,0.0029336111722875913,0.00015630156301565612,0.0031934794654504585,-0.0034292989412303696,0.0029336110733816905,0.00015630110783215726,0.003197849387572237,-0.0034379968904100842,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,6.14370021069027e-17,-5.168860252017884e-18,-2.80036122195089e-07],"qvel":[-5.913383149841967e-12,1.0331721847971444e-14,-1.7078925999531575e-12,-1.1293111459560332e-11,-2.6265504251437153e-11,-1.0652996229674768e-14,-2.1369599989382645e-09,-1.2146955864142847e-08,1.1437349285455656e-08,1.1081810696150068e-09,1.4489022263744924e-09,7.920004678144959e-09,-7.69119799852025e-09,-5.704287578128476e-10,2.051305998938228e-18,7.709977229089975e-17,6.293043714421964e-15,-2.5171784063497583e-15,-7.654469935478118e-16,-1.2900877071027666e-08],"joint_position_rad":[-1.9855103235697191,-1.582155679415357,1.3167354078238152,-1.3053760552033828,-1.570796326794924,-0.4147139967748237],"joint_velocity_rad_s":[-5.913383149841967e-12,1.0331721847971444e-14,-1.7078925999531575e-12,-1.1293111459560332e-11,-2.6265504251437153e-11,-1.0652996229674768e-14],"linkage_position_rad":[0.0029336111722875913,0.00015630156301565612,0.0031934794654504585,-0.0034292989412303696,0.0029336110733816905,0.00015630110783215726,0.003197849387572237,-0.0034379968904100842],"tcp_position_m":[0.06812348610726404,0.4873046189502927,0.43500000000000866],"tcp_quaternion_wxyz":[7.737321837577985e-15,0.7071067811865467,0.7071067811865478,1.802477275905971e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,6.14370021069027e-17,-5.168860252017884e-18,-2.80036122195089e-07],"object_linear_velocity_m_s":[2.051305998938228e-18,7.709977229089975e-17,6.293043714421964e-15],"object_angular_velocity_rad_s":[-2.517178834921615e-15,-7.654455821607503e-16,-1.2900877071027675e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221294224,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896744,-1.5707950793627243,-0.41471399677482085,0.0],"actuator_force":[2.368324203416705e-09,-19.807843877857067,-20.288585099478496,-2.4133468420164945,0.0006237187263877786,2.4726887204451486e-12,-0.2933611088431752],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948968,-0.41471399677482035],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.259999999999334,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948968,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.279999999999358,"qpos":[-1.9855103235697138,-1.582155679415357,1.3167354078238165,-1.3053760552033726,-1.5707963267948999,-0.4147139967748237,0.0029336111725185065,0.00015630156749606844,0.003193479462229299,-0.0034292989427287934,0.0029336110738062255,0.00015630110474337423,0.003197849390483454,-0.003437996889952363,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,5.245273503284762e-17,-2.719239189277011e-17,-2.804899254834973e-07],"qvel":[1.693119237057769e-12,8.367329478725122e-14,6.506784952154982e-13,2.2346149773263125e-12,4.4912021524549805e-12,1.8891906859507782e-14,9.069514487409978e-10,4.563483503560891e-09,-4.458578247125928e-09,-3.195480032570151e-10,-8.053487624356837e-10,-2.944488699429388e-09,2.7717486188824754e-09,2.727150037595877e-10,3.1867843123553316e-17,6.913702976349082e-17,5.9863446038692635e-15,-1.6973260475954059e-15,-5.480743644601343e-16,-2.3553743654484512e-08],"joint_position_rad":[-1.9855103235697138,-1.582155679415357,1.3167354078238165,-1.3053760552033726,-1.5707963267948999,-0.4147139967748237],"joint_velocity_rad_s":[1.693119237057769e-12,8.367329478725122e-14,6.506784952154982e-13,2.2346149773263125e-12,4.4912021524549805e-12,1.8891906859507782e-14],"linkage_position_rad":[0.0029336111725185065,0.00015630156749606844,0.003193479462229299,-0.0034292989427287934,0.0029336110738062255,0.00015630110474337423,0.003197849390483454,-0.003437996889952363],"tcp_position_m":[0.06812348610725456,0.4873046189502931,0.43500000000000705],"tcp_quaternion_wxyz":[-1.5048558867928964e-15,0.7071067811865445,0.7071067811865496,8.371023504367088e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,5.245273503284762e-17,-2.719239189277011e-17,-2.804899254834973e-07],"object_linear_velocity_m_s":[3.1867843123553316e-17,6.913702976349082e-17,5.9863446038692635e-15],"object_angular_velocity_rad_s":[-1.6973263537728497e-15,-5.480734098234191e-16,-2.3553743654484532e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221300332,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737346,-1.310202748889674,-1.5707950793627243,-0.41471399677482035,0.0],"actuator_force":[-6.84849510435015e-10,-19.80784387788708,-20.288585100423916,-2.4133468433741427,0.0006237156385395792,-2.2737367544323206e-13,-0.29336111282425],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.279999999999358,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.299999999999383,"qpos":[-1.9855103235697182,-1.582155679415357,1.3167354078238147,-1.305376055203379,-1.5707963267949137,-0.4147139967748237,0.0029336111719603774,0.00015630156197102028,0.003193479466817998,-0.003429298941089411,0.002933611074052103,0.00015630110846367345,0.00319784938714416,-0.003437996890704507,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,6.697474158301829e-17,-1.7531447111941534e-17,-2.809299979857486e-07],"qvel":[1.33255411837657e-12,4.8070661584848845e-14,3.601321482234928e-13,2.95395880849593e-12,7.149817779935629e-12,2.2131646357735824e-14,2.881342394518227e-10,1.946439854398089e-09,-1.809970012749041e-09,-1.6252354428700303e-10,-1.0410762976372777e-10,-1.2737889169308755e-09,1.3114308930523468e-09,2.3419283296802574e-11,1.5782357508842128e-17,1.0346124919719516e-16,5.8420156106679934e-15,1.633784714309228e-15,1.3376166845116383e-15,-4.300318785202016e-08],"joint_position_rad":[-1.9855103235697182,-1.582155679415357,1.3167354078238147,-1.305376055203379,-1.5707963267949137,-0.4147139967748237],"joint_velocity_rad_s":[1.33255411837657e-12,4.8070661584848845e-14,3.601321482234928e-13,2.95395880849593e-12,7.149817779935629e-12,2.2131646357735824e-14],"linkage_position_rad":[0.0029336111719603774,0.00015630156197102028,0.003193479466817998,-0.003429298941089411,0.002933611074052103,0.00015630110846367345,0.00319784938714416,-0.003437996890704507],"tcp_position_m":[0.0681234861072608,0.4873046189502932,0.43500000000000844],"tcp_quaternion_wxyz":[3.4739492871254576e-15,0.7071067811865464,0.7071067811865481,1.4598012533128186e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,6.697474158301829e-17,-1.7531447111941534e-17,-2.809299979857486e-07],"object_linear_velocity_m_s":[1.5782357508842128e-17,1.0346124919719516e-16,5.8420156106679934e-15],"object_angular_velocity_rad_s":[1.633785467370095e-15,1.3376157723134101e-15,-4.3003187852020206e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287315,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.310202748889674,-1.570795079362724,-0.41471399677482085,0.0],"actuator_force":[-5.32054400537163e-10,-19.807843877872983,-20.288585100303408,-2.4133468434428096,0.0006237153799020234,-7.958078640513122e-13,-0.29336111322075703],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.299999999999383,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.319999999999407,"qpos":[-1.9855103235697202,-1.582155679415357,1.3167354078238147,-1.3053760552033844,-1.5707963267949279,-0.4147139967748237,0.0029336111711965023,0.00015630155737251454,0.003193479471058319,-0.003429298940905343,0.002933611074428006,0.0001563011114039487,0.0031978493842677934,-0.0034379968907458196,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,6.31327684815837e-17,-3.5274274663052346e-18,-2.8126896825939166e-07],"qvel":[-2.1089428180458378e-12,3.301443128694623e-14,-9.652800035630362e-13,-1.9513839502219045e-12,-3.1108174106822573e-12,1.599598047738808e-14,-9.767804660885497e-10,-5.2050091598575715e-09,5.100226566748534e-09,3.963344470353729e-10,9.33946233790228e-10,3.3418997195070763e-09,-3.069847137806801e-09,-3.441384893455838e-10,-9.944926474787014e-18,1.1534292340727313e-16,5.69629883868594e-15,1.6713861567379227e-15,2.2947653010542744e-15,-7.851296136035978e-08],"joint_position_rad":[-1.9855103235697202,-1.582155679415357,1.3167354078238147,-1.3053760552033844,-1.5707963267949279,-0.4147139967748237],"joint_velocity_rad_s":[-2.1089428180458378e-12,3.301443128694623e-14,-9.652800035630362e-13,-1.9513839502219045e-12,-3.1108174106822573e-12,1.599598047738808e-14],"linkage_position_rad":[0.0029336111711965023,0.00015630155737251454,0.003193479471058319,-0.003429298940905343,0.002933611074428006,0.0001563011114039487,0.0031978493842677934,-0.0034379968907458196],"tcp_position_m":[0.06812348610726565,0.4873046189502928,0.43500000000000905],"tcp_quaternion_wxyz":[9.059990198436063e-15,0.7071067811865469,0.7071067811865474,1.9693977291182866e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,6.31327684815837e-17,-3.5274274663052346e-18,-2.8126896825939166e-07],"object_linear_velocity_m_s":[-9.944926474787014e-18,1.1534292340727313e-16,5.69629883868594e-15],"object_angular_velocity_rad_s":[1.671387448184098e-15,2.2947643707492757e-15,-7.851296136035988e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221275999,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.5707950793627243,-0.4147139967748206,0.0],"actuator_force":[8.490133041050285e-10,-19.807843877866162,-20.288585099774537,-2.413346842949636,0.0006237164127469441,-5.684341886080802e-14,-0.29336111206705423],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.319999999999407,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.33999999999943,"qpos":[-1.9855103235697114,-1.582155679415357,1.3167354078238176,-1.3053760552033706,-1.5707963267948981,-0.4147139967748237,0.002933611173442412,0.00015630157188853503,0.0031934794579495693,-0.0034292989430836783,0.002933611072949748,0.00015630110187032334,0.0031978493931614058,-0.0034379968896509684,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,5.028656485575034e-17,5.21164578482258e-18,-2.8156678662360777e-07],"qvel":[1.4667226150568443e-12,8.934440445121616e-14,5.957995008847022e-13,1.6298805557562538e-12,2.9736176114372246e-12,1.3438709596685531e-14,1.0358771482797864e-09,4.793226246860826e-09,-4.764845717089417e-09,-2.6865137393013134e-10,-9.732496695210925e-10,-3.087383439492948e-09,2.9059720737529027e-09,2.8984534463993167e-10,-3.6069567503977454e-18,6.182826957812433e-17,5.5630720757309225e-15,-2.389466232944454e-15,1.8935503557496696e-16,-8.506236407608307e-09],"joint_position_rad":[-1.9855103235697114,-1.582155679415357,1.3167354078238176,-1.3053760552033706,-1.5707963267948981,-0.4147139967748237],"joint_velocity_rad_s":[1.4667226150568443e-12,8.934440445121616e-14,5.957995008847022e-13,1.6298805557562538e-12,2.9736176114372246e-12,1.3438709596685531e-14],"linkage_position_rad":[0.002933611173442412,0.00015630157188853503,0.0031934794579495693,-0.0034292989430836783,0.002933611072949748,0.00015630110187032334,0.0031978493931614058,-0.0034379968896509684],"tcp_position_m":[0.06812348610725266,0.4873046189502929,0.4350000000000062],"tcp_quaternion_wxyz":[-1.886424294133598e-15,0.7071067811865439,0.7071067811865506,6.5707927324377355e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,5.028656485575034e-17,5.21164578482258e-18,-2.8156678662360777e-07],"object_linear_velocity_m_s":[-3.6069567503977454e-18,6.182826957812433e-17,5.5630720757309225e-15],"object_angular_velocity_rad_s":[-2.3894661264005642e-15,1.89356382019094e-16,-8.50623640760832e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221313222,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.3065911152737348,-1.310202748889674,-1.5707950793627241,-0.41471399677482107,0.0],"actuator_force":[-5.989022611174732e-10,-19.80784387788981,-20.288585100403907,-2.4133468433146845,0.0006237157895156997,-2.842170943040401e-14,-0.2933611126327454],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.33999999999943,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.359999999999456,"qpos":[-1.9855103235697158,-1.582155679415357,1.3167354078238156,-1.3053760552033757,-1.570796326794908,-0.4147139967748237,0.0029336111724425416,0.00015630156495163034,0.0031934794640290382,-0.0034292989414236616,0.0029336110737255288,0.00015630110649194386,0.00319784938903299,-0.00343799689055482,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,5.2315434841649265e-17,-4.189772329862011e-18,-2.8205019903571837e-07],"qvel":[1.7863722884246232e-12,6.341836217239858e-14,6.183141631146881e-13,2.9417074131148837e-12,6.513299520671997e-12,2.1033974995734778e-14,6.012538703382056e-10,3.4313344257486813e-09,-3.304956305974505e-09,-2.5998613501016734e-10,-4.467985425623828e-10,-2.2250754034420715e-09,2.1653476785867973e-09,1.4247537781819464e-10,5.716400896441645e-18,6.678288967793199e-17,5.5061731457188806e-15,-1.7196353088338278e-15,-2.416050265858415e-16,-1.5530239588067408e-08],"joint_position_rad":[-1.9855103235697158,-1.582155679415357,1.3167354078238156,-1.3053760552033757,-1.570796326794908,-0.4147139967748237],"joint_velocity_rad_s":[1.7863722884246232e-12,6.341836217239858e-14,6.183141631146881e-13,2.9417074131148837e-12,6.513299520671997e-12,2.1033974995734778e-14],"linkage_position_rad":[0.0029336111724425416,0.00015630156495163034,0.0031934794640290382,-0.0034292989414236616,0.0029336110737255288,0.00015630110649194386,0.00319784938903299,-0.00343799689055482],"tcp_position_m":[0.06812348610725794,0.4873046189502929,0.43500000000000766],"tcp_quaternion_wxyz":[1.7517812177861633e-15,0.7071067811865456,0.7071067811865489,1.15031690426061e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,5.2315434841649265e-17,-4.189772329862011e-18,-2.8205019903571837e-07],"object_linear_velocity_m_s":[5.716400896441645e-18,6.678288967793199e-17,5.5061731457188806e-15],"object_angular_velocity_rad_s":[-1.7196354449929122e-15,-2.416040549138988e-16,-1.5530239588067434e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221295101,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.310202748889674,-1.5707950793627241,-0.4147139967748206,0.0],"actuator_force":[-7.180460670497268e-10,-19.80784387787844,-20.288585100409364,-2.413346843443378,0.0006237154406107948,-5.684341886080801e-13,-0.29336111308068014],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.359999999999456,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.37999999999948,"qpos":[-1.9855103235697198,-1.582155679415357,1.3167354078238147,-1.3053760552033824,-1.570796326794923,-0.4147139967748237,0.002933611170844046,0.0001563015561644177,0.003193479472464574,-0.003429298940992642,0.0029336110749492985,0.00015630111212938346,0.00319784938367585,-0.003437996890857522,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999611,4.0777521914165486e-17,-3.124020380381336e-18,-2.8247675472827295e-07],"qvel":[2.294276518107874e-13,3.855640780107337e-14,-1.543823400311407e-13,1.981744673632005e-12,5.681244812837527e-12,2.238931454013831e-14,-2.2698210890930967e-10,-7.296238274245934e-10,8.669419471454285e-10,-1.7018569312854252e-11,3.9807882211336974e-10,4.4106890708808954e-10,-2.90427709123215e-10,-1.2445502312459346e-10,1.66188579270735e-18,5.280746060562641e-17,5.384048613010113e-15,-1.4460067161929553e-15,2.7927891177693687e-16,-2.8354295613870183e-08],"joint_position_rad":[-1.9855103235697198,-1.582155679415357,1.3167354078238147,-1.3053760552033824,-1.570796326794923,-0.4147139967748237],"joint_velocity_rad_s":[2.294276518107874e-13,3.855640780107337e-14,-1.543823400311407e-13,1.981744673632005e-12,5.681244812837527e-12,2.238931454013831e-14],"linkage_position_rad":[0.002933611170844046,0.0001563015561644177,0.003193479472464574,-0.003429298940992642,0.0029336110749492985,0.00015630111212938346,0.00319784938367585,-0.003437996890857522],"tcp_position_m":[0.06812348610726408,0.487304618950293,0.43500000000000894],"tcp_quaternion_wxyz":[7.209768725442901e-15,0.7071067811865468,0.7071067811865475,1.7765251195255515e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999611,4.0777521914165486e-17,-3.124020380381336e-18,-2.8247675472827295e-07],"object_linear_velocity_m_s":[1.66188579270735e-18,5.280746060562641e-17,5.384048613010113e-15],"object_angular_velocity_rad_s":[-1.4460065582359668e-15,2.792797310158976e-16,-2.835429561387024e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221270245,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737348,-1.3102027488896741,-1.5707950793627241,-0.4147139967748209,0.0],"actuator_force":[-8.776623872108757e-11,-19.80784387786889,-20.288585100097862,-2.4133468433441294,0.0006237155313328913,-8.526512829121202e-13,-0.2933611131451508],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.570796326794897,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.37999999999948,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.570796326794897,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.399999999999505,"qpos":[-1.9855103235697176,-1.582155679415357,1.3167354078238158,-1.3053760552033828,-1.570796326794927,-0.4147139967748237,0.0029336111709954075,0.00015630155825352424,0.003193479470884547,-0.00342929894196472,0.0029336110746404696,0.000156301110696057,0.0031978493845553333,-0.0034379968902379984,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,3.0125511857874295e-17,7.257992871114931e-18,-2.828810976793666e-07],"qvel":[-6.448617005511327e-12,3.0014006947597036e-15,-1.8775145276790622e-12,-1.2322933835122476e-11,-2.8616284481616423e-11,-1.2082524867248876e-14,-2.342297217116124e-09,-1.3289749679749922e-08,1.2521099533003145e-08,1.2044681521400595e-09,1.5822850655517532e-09,8.611444292713974e-09,-8.374274163421705e-09,-6.145179674010671e-10,-2.0298208770106142e-17,4.47467091850969e-17,5.997446834115514e-15,-6.310038004939273e-16,1.4950113281544725e-15,-5.1767783439548357e-08],"joint_position_rad":[-1.9855103235697176,-1.582155679415357,1.3167354078238158,-1.3053760552033828,-1.570796326794927,-0.4147139967748237],"joint_velocity_rad_s":[-6.448617005511327e-12,3.0014006947597036e-15,-1.8775145276790622e-12,-1.2322933835122476e-11,-2.8616284481616423e-11,-1.2082524867248876e-14],"linkage_position_rad":[0.0029336111709954075,0.00015630155825352424,0.003193479470884547,-0.00342929894196472,0.0029336110746404696,0.000156301110696057,0.0031978493845553333,-0.0034379968902379984],"tcp_position_m":[0.0681234861072639,0.4873046189502924,0.43500000000000827],"tcp_quaternion_wxyz":[9.251775803336123e-15,0.7071067811865461,0.7071067811865481,1.8245055926569247e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,3.0125511857874295e-17,7.257992871114931e-18,-2.828810976793666e-07],"object_linear_velocity_m_s":[-2.0298208770106142e-17,4.47467091850969e-17,5.997446834115514e-15],"object_angular_velocity_rad_s":[-6.310029554243948e-16,1.4950116882713909e-15,-5.1767783439548357e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221277034,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.306591115273735,-1.3102027488896744,-1.5707950793627248,-0.4147139967748207,0.0],"actuator_force":[2.5793269742280245e-09,-19.807843877854793,-20.28858509941074,-2.413346841913608,0.0006237189627427142,2.7284841053187847e-12,-0.2933611084817331],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482046],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.399999999999505,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.41999999999953,"qpos":[-1.9855103235697138,-1.582155679415357,1.3167354078238165,-1.3053760552033735,-1.5707963267949034,-0.4147139967748237,0.0029336111731428525,0.00015630156877028079,0.0031934794603652784,-0.003429298941769456,0.0029336110731369254,0.0001563011040195203,0.003197849391367215,-0.003437996890321344,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,2.665605156457568e-17,8.306934740793746e-18,-2.832271127891517e-07],"qvel":[1.8129325221173473e-12,7.607585460138015e-14,6.893680634733112e-13,2.451697868119513e-12,4.996028700810456e-12,1.8734315456322045e-14,8.122586941151185e-10,4.20645424353175e-09,-4.125008558120835e-09,-2.8284887619202776e-10,-7.020303150084442e-10,-2.721919340019783e-09,2.6023413678701394e-09,2.160539189460259e-10,-8.726638938923617e-19,8.784140617381076e-17,6.313860396133681e-15,3.860384053633274e-15,-1.192748393157243e-15,-9.45148995671388e-08],"joint_position_rad":[-1.9855103235697138,-1.582155679415357,1.3167354078238165,-1.3053760552033735,-1.5707963267949034,-0.4147139967748237],"joint_velocity_rad_s":[1.8129325221173473e-12,7.607585460138015e-14,6.893680634733112e-13,2.451697868119513e-12,4.996028700810456e-12,1.8734315456322045e-14],"linkage_position_rad":[0.0029336111731428525,0.00015630156877028079,0.0031934794603652784,-0.003429298941769456,0.0029336110731369254,0.0001563011040195203,0.003197849391367215,-0.003437996890321344],"tcp_position_m":[0.06812348610725545,0.4873046189502929,0.43500000000000716],"tcp_quaternion_wxyz":[6.809319848677256e-17,0.7071067811865444,0.7071067811865497,9.296887190522459e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,2.665605156457568e-17,8.306934740793746e-18,-2.832271127891517e-07],"object_linear_velocity_m_s":[-8.726638938923617e-19,8.784140617381076e-17,6.313860396133681e-15],"object_angular_velocity_rad_s":[3.8603833764250315e-15,-1.192750574849123e-15,-9.451489956713882e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221306027,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737346,-1.3102027488896741,-1.5707950793627246,-0.41471399677482046,0.0],"actuator_force":[-7.325979822780937e-10,-19.807843877883442,-20.288585100439377,-2.4133468433956295,0.0006237155897679258,-2.8421709430404007e-13,-0.2933611128651308],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.41999999999953,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.439999999999554,"qpos":[-1.985510323569718,-1.582155679415357,1.3167354078238156,-1.3053760552033795,-1.5707963267949152,-0.4147139967748237,0.002933611170996522,0.00015630155775562694,0.0031934794711419427,-0.003429298941297744,0.0029336110749991046,0.00015630111107425008,0.0031978493847313835,-0.003437996890785871,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,3.267363187612765e-17,1.2131978424184437e-18,-2.835856303166455e-07],"qvel":[1.4694857402800628e-12,5.2862155416490006e-14,3.997447771434246e-13,3.2293560617861492e-12,7.79214295337871e-12,2.429879159189717e-14,2.747879053054543e-10,2.04591941430809e-09,-1.838162544791112e-09,-2.4081262266731503e-10,-7.075835779384714e-11,-1.340527689125548e-09,1.3512486520483836e-09,5.4010207877882156e-11,-2.7700484193625205e-18,3.7330945708136026e-17,6.182021411959443e-15,-9.31119790125113e-16,-2.8894922979605986e-16,-1.0239915369761889e-08],"joint_position_rad":[-1.985510323569718,-1.582155679415357,1.3167354078238156,-1.3053760552033795,-1.5707963267949152,-0.4147139967748237],"joint_velocity_rad_s":[1.4694857402800628e-12,5.2862155416490006e-14,3.997447771434246e-13,3.2293560617861492e-12,7.79214295337871e-12,2.429879159189717e-14],"linkage_position_rad":[0.002933611170996522,0.00015630155775562694,0.0031934794711419427,-0.003429298941297744,0.0029336110749991046,0.00015630111107425008,0.0031978493847313835,-0.003437996890785871],"tcp_position_m":[0.0681234861072611,0.4873046189502929,0.4350000000000082],"tcp_quaternion_wxyz":[4.27042858147162e-15,0.7071067811865464,0.7071067811865481,1.4668901805415856e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,3.267363187612765e-17,1.2131978424184437e-18,-2.835856303166455e-07],"object_linear_velocity_m_s":[-2.7700484193625205e-18,3.7330945708136026e-17,6.182021411959443e-15],"object_angular_velocity_rad_s":[-9.311199540335086e-16,-2.889487010224779e-16,-1.0239915369761894e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221273187,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737346,-1.3102027488896744,-1.570795079362724,-0.41471399677482057,0.0],"actuator_force":[-5.875335773453116e-10,-19.807843877873438,-20.288585100322052,-2.4133468434704355,0.0006237153163510811,-8.526512829121202e-13,-0.2933611133199291],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482024],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.439999999999554,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482024],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.459999999999578,"qpos":[-1.9855103235697198,-1.582155679415357,1.316735407823815,-1.3053760552033855,-1.5707963267949296,-0.4147139967748237,0.002933611169803313,0.00015630155212166902,0.0031934794769855252,-0.0034292989416041184,0.002933611075782372,0.00015630111460396176,0.003197849380911732,-0.003437996890593794,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,4.153874049482895e-17,4.88580951363599e-18,-2.84044430147435e-07],"qvel":[-2.296830745984935e-12,2.743047870694189e-14,-1.0563604704430915e-12,-2.129189290187163e-12,-3.3812736288891684e-12,1.7745227869745358e-14,-1.0715288885825885e-09,-5.696231301089147e-09,5.594581741386417e-09,4.2678935284204584e-10,1.0246020435596164e-09,3.6384880026874607e-09,-3.3496219100048807e-09,-3.7282592600878857e-10,-5.447737966841354e-18,5.2217641511624475e-17,5.968303479719099e-15,-8.928593147170178e-16,9.552185664589799e-17,-1.8695499564495837e-08],"joint_position_rad":[-1.9855103235697198,-1.582155679415357,1.316735407823815,-1.3053760552033855,-1.5707963267949296,-0.4147139967748237],"joint_velocity_rad_s":[-2.296830745984935e-12,2.743047870694189e-14,-1.0563604704430915e-12,-2.129189290187163e-12,-3.3812736288891684e-12,1.7745227869745358e-14],"linkage_position_rad":[0.002933611169803313,0.00015630155212166902,0.0031934794769855252,-0.0034292989416041184,0.002933611075782372,0.00015630111460396176,0.003197849380911732,-0.003437996890593794],"tcp_position_m":[0.06812348610726592,0.48730461895029303,0.4350000000000091],"tcp_quaternion_wxyz":[9.669626469026075e-15,0.7071067811865469,0.7071067811865476,2.0525658166697913e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,4.153874049482895e-17,4.88580951363599e-18,-2.84044430147435e-07],"object_linear_velocity_m_s":[-5.447737966841354e-18,5.2217641511624475e-17,5.968303479719099e-15],"object_angular_velocity_rad_s":[-8.928592606346566e-16,9.55223654224882e-17,-1.869549956449585e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221257542,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737346,-1.3102027488896741,-1.570795079362724,-0.41471399677482024,0.0],"actuator_force":[9.226823749486357e-10,-19.807843877864343,-20.288585099738157,-2.413346842931446,0.0006237164409412799,-5.684341886080802e-14,-0.2933611120446501],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948968,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.459999999999578,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948968,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.479999999999603,"qpos":[-1.985510323569712,-1.582155679415357,1.3167354078238174,-1.305376055203372,-1.570796326794899,-0.4147139967748237,0.0029336111739875948,0.00015630157293664834,0.0031934794562863546,-0.003429298942092789,0.0029336110723633636,0.00015630110132148093,0.0031978493938938854,-0.003437996890049725,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,5.885256154790217e-17,2.1199209717857264e-18,-2.844970113815406e-07],"qvel":[1.5993951239931795e-12,8.441214398248696e-14,6.398346601247567e-13,1.8236940733926784e-12,3.378399162085274e-12,1.5735895771319228e-14,9.488357468945461e-10,4.516460743995887e-09,-4.494781004694325e-09,-2.5686382223035944e-10,-8.796912098473379e-10,-2.9211885711071444e-09,2.776382464086661e-09,2.5137125184683464e-10,1.7671277760551158e-18,8.216158335908143e-17,5.9114045497070594e-15,4.390016644151025e-16,-3.4469901529399977e-16,-3.413326100312904e-08],"joint_position_rad":[-1.985510323569712,-1.582155679415357,1.3167354078238174,-1.305376055203372,-1.570796326794899,-0.4147139967748237],"joint_velocity_rad_s":[1.5993951239931795e-12,8.441214398248696e-14,6.398346601247567e-13,1.8236940733926784e-12,3.378399162085274e-12,1.5735895771319228e-14],"linkage_position_rad":[0.0029336111739875948,0.00015630157293664834,0.0031934794562863546,-0.003429298942092789,0.0029336110723633636,0.00015630110132148093,0.0031978493938938854,-0.003437996890049725],"tcp_position_m":[0.0681234861072534,0.487304618950293,0.4350000000000066],"tcp_quaternion_wxyz":[-1.6167811722390584e-15,0.7071067811865438,0.7071067811865502,7.50099051733411e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,5.885256154790217e-17,2.1199209717857264e-18,-2.844970113815406e-07],"object_linear_velocity_m_s":[1.7671277760551158e-18,8.216158335908143e-17,5.9114045497070594e-15],"object_angular_velocity_rad_s":[4.3900146813863405e-16,-3.4469926106560765e-16,-3.413326100312908e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221318515,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896741,-1.5707950793627243,-0.4147139967748207,0.0],"actuator_force":[-6.507434591185302e-10,-19.807843877886626,-20.288585100422097,-2.413346843333443,0.000623715749384246,-5.684341886080802e-14,-0.2933611126632706],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.479999999999603,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.499999999999627,"qpos":[-1.985510323569716,-1.582155679415357,1.3167354078238165,-1.3053760552033762,-1.5707963267949077,-0.4147139967748237,0.0029336111714879124,0.00015630156098730516,0.0031934794681867133,-0.003429298941693557,0.0029336110746784145,0.00015630110898916456,0.0031978493866852936,-0.003437996890591421,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,5.0489392796936896e-17,-8.29548039582963e-18,-2.8486286855383096e-07],"qvel":[1.9632410142728595e-12,6.754954254441836e-14,6.821582596112802e-13,3.2189091496985027e-12,7.095933720937729e-12,2.164345116264971e-14,6.159291156523477e-10,3.667087233063138e-09,-3.4705784035148858e-09,-3.4153221316848316e-10,-4.4479393658499973e-10,-2.376074246309396e-09,2.2782710671482657e-09,1.8081898526754746e-10,1.9659295061141147e-17,8.08752882547408e-17,5.718503299178438e-15,-5.600919876390993e-16,-1.9686979080498485e-15,-6.231871486978649e-08],"joint_position_rad":[-1.985510323569716,-1.582155679415357,1.3167354078238165,-1.3053760552033762,-1.5707963267949077,-0.4147139967748237],"joint_velocity_rad_s":[1.9632410142728595e-12,6.754954254441836e-14,6.821582596112802e-13,3.2189091496985027e-12,7.095933720937729e-12,2.164345116264971e-14],"linkage_position_rad":[0.0029336111714879124,0.00015630156098730516,0.0031934794681867133,-0.003429298941693557,0.0029336110746784145,0.00015630110898916456,0.0031978493866852936,-0.003437996890591421],"tcp_position_m":[0.068123486107258,0.4873046189502931,0.43500000000000727],"tcp_quaternion_wxyz":[1.57404552882167e-15,0.7071067811865459,0.7071067811865488,1.1436455656104123e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,5.0489392796936896e-17,-8.29548039582963e-18,-2.8486286855383096e-07],"object_linear_velocity_m_s":[1.9659295061141147e-17,8.08752882547408e-17,5.718503299178438e-15],"object_angular_velocity_rad_s":[-5.600931082229468e-16,-1.968697582657843e-15,-6.231871486978655e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281836,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.3102027488896741,-1.570795079362724,-0.41471399677482057,0.0],"actuator_force":[-7.885319064371288e-10,-19.807843877879804,-20.28858510043665,-2.4133468434708902,0.0006237153821757602,-5.968558980384842e-13,-0.29336111316399227],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.499999999999627,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.51999999999965,"qpos":[-1.9855103235697196,-1.582155679415357,1.3167354078238147,-1.3053760552033828,-1.5707963267949236,-0.4147139967748237,0.0029336111694143255,0.00015630155082185988,0.0031934794785173763,-0.0034292989416910245,0.002933611076356852,0.0001563011154201711,0.0031978493802264896,-0.003437996890709093,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,3.3848954153534174e-17,-1.0353440088394662e-17,-2.851527715403905e-07],"qvel":[2.5558136470469547e-13,3.378521721962165e-14,-1.6554940441200225e-13,2.1652802849289102e-12,6.198012228707684e-12,2.4593098479584832e-14,-2.52469986976039e-10,-8.082931124617938e-10,9.701993056980368e-10,-2.3896407787091204e-11,4.409672049713636e-10,4.866830361475421e-10,-3.275040319463142e-10,-1.342335993686506e-10,-5.3517135133243164e-17,4.867294950478613e-17,5.675482156974211e-15,-1.6326018724187495e-15,5.451758047845547e-15,-1.1377823591672092e-07],"joint_position_rad":[-1.9855103235697196,-1.582155679415357,1.3167354078238147,-1.3053760552033828,-1.5707963267949236,-0.4147139967748237],"joint_velocity_rad_s":[2.5558136470469547e-13,3.378521721962165e-14,-1.6554940441200225e-13,2.1652802849289102e-12,6.198012228707684e-12,2.4593098479584832e-14],"linkage_position_rad":[0.0029336111694143255,0.00015630155082185988,0.0031934794785173763,-0.0034292989416910245,0.002933611076356852,0.0001563011154201711,0.0031978493802264896,-0.003437996890709093],"tcp_position_m":[0.06812348610726428,0.48730461895029314,0.4350000000000088],"tcp_quaternion_wxyz":[7.397220231601952e-15,0.707106781186547,0.7071067811865477,1.8285769608802115e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,3.3848954153534174e-17,-1.0353440088394662e-17,-2.851527715403905e-07],"object_linear_velocity_m_s":[-5.3517135133243164e-17,4.867294950478613e-17,5.675482156974211e-15],"object_angular_velocity_rad_s":[-1.6325987608946578e-15,5.451758986629113e-15,-1.1377823591672107e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221251546,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.306591115273735,-1.3102027488896737,-1.5707950793627237,-0.4147139967748206,0.0],"actuator_force":[-9.868017514236271e-11,-19.807843877867526,-20.28858510009286,-2.413346843362092,0.0006237154801738143,-9.379164112033322e-13,-0.29336111323104497],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.51999999999965,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.539999999999676,"qpos":[-1.985510323569719,-1.582155679415357,1.3167354078238152,-1.3053760552033846,-1.5707963267949299,-0.4147139967748237,0.002933611171310944,0.0001563015578382555,0.003193479470532834,-0.0034292989408836404,0.00293361107423497,0.00015630111111036748,0.003197849384475522,-0.0034379968907095604,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,1.8707310932569284e-17,1.080350159488673e-17,-2.8558435949118226e-07],"qvel":[-6.78136337451285e-12,-9.685212392307263e-15,-1.983686930909441e-12,-1.2995720916780412e-11,-3.0180662150908156e-11,-1.3235126431008395e-14,-2.5729345878116777e-09,-1.4766182883373718e-08,1.3840276682256785e-08,1.2762064171808957e-09,1.7655477485564181e-09,9.566828159639843e-09,-9.171770324547982e-09,-6.848704806712924e-10,-1.1563611955189389e-17,2.620165370595372e-17,5.572786527196384e-15,-1.3433936685512146e-15,5.94734189908204e-16,-1.2326940112551841e-08],"joint_position_rad":[-1.985510323569719,-1.582155679415357,1.3167354078238152,-1.3053760552033846,-1.5707963267949299,-0.4147139967748237],"joint_velocity_rad_s":[-6.78136337451285e-12,-9.685212392307263e-15,-1.983686930909441e-12,-1.2995720916780412e-11,-3.0180662150908156e-11,-1.3235126431008395e-14],"linkage_position_rad":[0.002933611171310944,0.0001563015578382555,0.003193479470532834,-0.0034292989408836404,0.00293361107423497,0.00015630111111036748,0.003197849384475522,-0.0034379968907095604],"tcp_position_m":[0.0681234861072654,0.4873046189502926,0.4350000000000087],"tcp_quaternion_wxyz":[1.0033016047285792e-14,0.7071067811865465,0.7071067811865478,1.9941413117974107e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,1.8707310932569284e-17,1.080350159488673e-17,-2.8558435949118226e-07],"object_linear_velocity_m_s":[-1.1563611955189389e-17,2.620165370595372e-17,5.572786527196384e-15],"object_angular_velocity_rad_s":[-1.3433933291237804e-15,5.947349576737567e-16,-1.2326940112551861e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221278316,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737348,-1.310202748889674,-1.5707950793627243,-0.4147139967748206,0.0],"actuator_force":[2.7148416847921908e-09,-19.807843877849336,-20.288585099367083,-2.4133468418451685,0.0006237191207674186,2.8705926524708048e-12,-0.29336110824036155],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948968,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.539999999999676,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.5599999999997,"qpos":[-1.9855103235697145,-1.582155679415357,1.316735407823817,-1.3053760552033733,-1.5707963267949023,-0.4147139967748237,0.0029336111722129492,0.000156301565081412,0.0031934794642993125,-0.003429298942123131,0.0029336110740768072,0.00015630110635145636,0.003197849389138586,-0.0034379968903108116,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.99999999999996,2.5379599836884983e-18,1.293201149554413e-17,-2.860740271730345e-07],"qvel":[1.9938839722662503e-12,8.047216398476824e-14,7.594585206301245e-13,2.687759885067373e-12,5.44892811304352e-12,1.8791104645280728e-14,8.470721909624381e-10,4.5181029700625495e-09,-4.371555449800717e-09,-3.613129608424465e-10,-7.246338798961757e-10,-2.919399609918176e-09,2.755805481441437e-09,2.591725415733471e-10,-1.4226302579771512e-17,6.104122980990585e-18,5.418743082529643e-15,-6.526084124018146e-16,-1.5948880827083698e-16,-2.2505879705442507e-08],"joint_position_rad":[-1.9855103235697145,-1.582155679415357,1.316735407823817,-1.3053760552033733,-1.5707963267949023,-0.4147139967748237],"joint_velocity_rad_s":[1.9938839722662503e-12,8.047216398476824e-14,7.594585206301245e-13,2.687759885067373e-12,5.44892811304352e-12,1.8791104645280728e-14],"linkage_position_rad":[0.0029336111722129492,0.000156301565081412,0.0031934794642993125,-0.003429298942123131,0.0029336110740768072,0.00015630110635145636,0.003197849389138586,-0.0034379968903108116],"tcp_position_m":[0.0681234861072556,0.4873046189502929,0.4350000000000067],"tcp_quaternion_wxyz":[-2.6409020715853656e-16,0.707106781186545,0.7071067811865495,8.840212218537098e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.99999999999996,2.5379599836884983e-18,1.293201149554413e-17,-2.860740271730345e-07],"object_linear_velocity_m_s":[-1.4226302579771512e-17,6.104122980990585e-18,5.418743082529643e-15],"object_angular_velocity_rad_s":[-6.526085042350129e-16,-1.5948843476793957e-16,-2.2505879705442553e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221293719,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.3065911152737346,-1.3102027488896737,-1.5707950793627241,-0.41471399677482057,0.0],"actuator_force":[-8.035385690163821e-10,-19.807843877885716,-20.28858510046848,-2.413346843419049,0.0006237155441795039,-3.126388037344441e-13,-0.2933611129266794],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033709,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.5599999999997,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033709,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.579999999999725,"qpos":[-1.9855103235697187,-1.582155679415357,1.316735407823815,-1.3053760552033795,-1.570796326794915,-0.4147139967748237,0.0029336111695709116,0.00015630155254538962,0.0031934794771080305,-0.0034292989420227145,0.0029336110764225324,0.00015630111429946797,0.0031978493813305097,-0.003437996890630538,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,2.474772831302867e-18,-1.1838159523594735e-17,-2.864945216363615e-07],"qvel":[1.6123083496111971e-12,4.7892107968439415e-14,4.4752863690346624e-13,3.5270675942463195e-12,8.501778910819722e-12,2.436231595561049e-14,2.952518538206037e-10,2.2234745853178285e-09,-1.9859409687371684e-09,-2.673359166782592e-10,-7.067774521616494e-11,-1.4511151490101512e-09,1.458611322371125e-09,5.988570426055031e-11,2.6957932838796152e-17,8.474070417777277e-18,5.538092057676848e-15,-7.67318444789305e-17,-2.4965835405648625e-15,-4.109005289967352e-08],"joint_position_rad":[-1.9855103235697187,-1.582155679415357,1.316735407823815,-1.3053760552033795,-1.570796326794915,-0.4147139967748237],"joint_velocity_rad_s":[1.6123083496111971e-12,4.7892107968439415e-14,4.4752863690346624e-13,3.5270675942463195e-12,8.501778910819722e-12,2.436231595561049e-14],"linkage_position_rad":[0.0029336111695709116,0.00015630155254538962,0.0031934794771080305,-0.0034292989420227145,0.0029336110764225324,0.00015630111429946797,0.0031978493813305097,-0.003437996890630538],"tcp_position_m":[0.06812348610726134,0.48730461895029326,0.4350000000000085],"tcp_quaternion_wxyz":[3.964333856134561e-15,0.7071067811865465,0.7071067811865478,1.4977374799674777e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,2.474772831302867e-18,-1.1838159523594735e-17,-2.864945216363615e-07],"object_linear_velocity_m_s":[2.6957932838796152e-17,8.474070417777277e-18,5.538092057676848e-15],"object_angular_velocity_rad_s":[-7.673327402107102e-17,-2.4965834963945698e-15,-4.109005289967351e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221254852,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.3065911152737355,-1.3102027488896741,-1.5707950793627237,-0.4147139967748207,0.0],"actuator_force":[-6.430127541534603e-10,-19.807843877872983,-20.28858510033797,-2.413346843499994,0.0006237152454104944,-9.379164112033322e-13,-0.29336111342254273],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.579999999999725,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.59999999999975,"qpos":[-1.9855103235697222,-1.582155679415357,1.3167354078238138,-1.3053760552033873,-1.570796326794933,-0.4147139967748237,0.0029336111699518313,0.00015630155080385844,0.003193479477482131,-0.003429298940512126,0.002933611075543231,0.00015630111561682782,0.003197849380338343,-0.0034379968911092376,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,1.7164233520662558e-17,-3.13916632508448e-17,-2.868734443721542e-07],"qvel":[-2.361413578879466e-12,1.6017179404370858e-14,-1.0932505250000027e-12,-2.165771345446535e-12,-3.3818363324402274e-12,1.511017182917137e-14,-1.2335603532502269e-09,-6.582454886352229e-09,6.431673411352463e-09,4.3030646866081426e-10,1.1870932131792165e-09,4.2049948589431636e-09,-3.81049501850819e-09,-4.17770140996678e-10,7.374413885539317e-17,6.930654871040288e-17,6.169531402932403e-15,5.0091473450858236e-15,-3.812283375551199e-15,-7.502006006412226e-08],"joint_position_rad":[-1.9855103235697222,-1.582155679415357,1.3167354078238138,-1.3053760552033873,-1.570796326794933,-0.4147139967748237],"joint_velocity_rad_s":[-2.361413578879466e-12,1.6017179404370858e-14,-1.0932505250000027e-12,-2.165771345446535e-12,-3.3818363324402274e-12,1.511017182917137e-14],"linkage_position_rad":[0.0029336111699518313,0.00015630155080385844,0.003193479477482131,-0.003429298940512126,0.002933611075543231,0.00015630111561682782,0.003197849380338343,-0.0034379968911092376],"tcp_position_m":[0.06812348610726812,0.48730461895029303,0.4350000000000097],"tcp_quaternion_wxyz":[1.0668452063672284e-14,0.7071067811865481,0.7071067811865464,2.2439600708799314e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,1.7164233520662558e-17,-3.13916632508448e-17,-2.868734443721542e-07],"object_linear_velocity_m_s":[7.374413885539317e-17,6.930654871040288e-17,6.169531402932403e-15],"object_angular_velocity_rad_s":[5.009145162509284e-15,-3.8122862469579545e-15,-7.502006006412227e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221256127,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.3065911152737353,-1.3102027488896746,-1.570795079362724,-0.41471399677482085,0.0],"actuator_force":[9.540599421598017e-10,-19.80784387786025,-20.288585099719512,-2.413346842927126,0.0006237164427602693,-8.526512829121202e-14,-0.2933611120424174],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.59999999999975,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.619999999999774,"qpos":[-1.9855103235697138,-1.582155679415357,1.3167354078238171,-1.3053760552033717,-1.5707963267948988,-0.4147139967748237,0.0029336111730938236,0.00015630156954655423,0.0031934794599909238,-0.0034292989425225512,0.002933611073275332,0.00015630110346757657,0.0031978493918159334,-0.0034379968899905457,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,2.8674622666100394e-17,-3.497624518781708e-17,-2.8715801332974514e-07],"qvel":[1.768233938556194e-12,9.299174243647952e-14,7.083467680253804e-13,2.007303907715147e-12,3.7034218880260205e-12,1.7170354625957743e-14,9.98116967715021e-10,4.86399522773724e-09,-4.7855448940517255e-09,-3.2909120075995856e-10,-9.205428166773424e-10,-3.140691638351988e-09,2.949140512199854e-09,2.9547605088850575e-10,3.992423207301913e-17,3.28288437895186e-17,6.354105980776337e-15,-6.113450584866769e-16,1.178477557689785e-15,-8.127809156114537e-09],"joint_position_rad":[-1.9855103235697138,-1.582155679415357,1.3167354078238171,-1.3053760552033717,-1.5707963267948988,-0.4147139967748237],"joint_velocity_rad_s":[1.768233938556194e-12,9.299174243647952e-14,7.083467680253804e-13,2.007303907715147e-12,3.7034218880260205e-12,1.7170354625957743e-14],"linkage_position_rad":[0.0029336111730938236,0.00015630156954655423,0.0031934794599909238,-0.0034292989425225512,0.002933611073275332,0.00015630110346757657,0.0031978493918159334,-0.0034379968899905457],"tcp_position_m":[0.06812348610725415,0.48730461895029287,0.4350000000000067],"tcp_quaternion_wxyz":[-1.833471889055414e-15,0.7071067811865445,0.7071067811865496,7.473826725914459e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,2.8674622666100394e-17,-3.497624518781708e-17,-2.8715801332974514e-07],"object_linear_velocity_m_s":[3.992423207301913e-17,3.28288437895186e-17,6.354105980776337e-15],"object_angular_velocity_rad_s":[-6.113443810994672e-16,1.1784779092609793e-15,-8.127809156114539e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221306921,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.3065911152737342,-1.310202748889674,-1.5707950793627241,-0.41471399677482035,0.0],"actuator_force":[-7.148628355935216e-10,-19.807843877889354,-20.28858510044938,-2.41334684335186,0.0006237157168698104,-5.684341886080802e-14,-0.29336111270632853],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033704,-1.5707963267948968,-0.4147139967748204],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.619999999999774,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033704,-1.5707963267948968,-0.4147139967748204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.639999999999798,"qpos":[-1.9855103235697178,-1.582155679415357,1.3167354078238152,-1.305376055203376,-1.5707963267949077,-0.4147139967748237,0.0029336111701026195,0.00015630155604836612,0.0031934794738934925,-0.0034292989424716132,0.0029336110760789283,0.0001563011120374349,0.003197849383459899,-0.003437996890413089,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,4.788266465544134e-17,-2.3235239815310566e-17,-2.876199195878193e-07],"qvel":[2.155877356550637e-12,6.942379885706777e-14,7.514517160156465e-13,3.5169954747379238e-12,7.739978445792094e-12,2.2874540241483404e-14,6.680910869839225e-10,3.995981334892708e-09,-3.772839889270672e-09,-3.7656926307372254e-10,-4.797745356017566e-10,-2.578393683627807e-09,2.467427935496981e-09,1.9804329817559873e-10,3.150368983478805e-17,5.581391593552139e-17,6.404066016884469e-15,-6.759991328448463e-16,1.3724139482112033e-15,-1.483932699162094e-08],"joint_position_rad":[-1.9855103235697178,-1.582155679415357,1.3167354078238152,-1.305376055203376,-1.5707963267949077,-0.4147139967748237],"joint_velocity_rad_s":[2.155877356550637e-12,6.942379885706777e-14,7.514517160156465e-13,3.5169954747379238e-12,7.739978445792094e-12,2.2874540241483404e-14],"linkage_position_rad":[0.0029336111701026195,0.00015630155604836612,0.0031934794738934925,-0.0034292989424716132,0.0029336110760789283,0.0001563011120374349,0.003197849383459899,-0.003437996890413089],"tcp_position_m":[0.06812348610725892,0.4873046189502931,0.43500000000000805],"tcp_quaternion_wxyz":[1.414955297646664e-15,0.7071067811865464,0.7071067811865483,1.1924450824053418e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,4.788266465544134e-17,-2.3235239815310566e-17,-2.876199195878193e-07],"object_linear_velocity_m_s":[3.150368983478805e-17,5.581391593552139e-17,6.404066016884469e-15],"object_angular_velocity_rad_s":[-6.75998342687965e-16,1.3724143384937024e-15,-1.483932699162095e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221264273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.306591115273734,-1.3102027488896737,-1.570795079362724,-0.4147139967748204,0.0],"actuator_force":[-8.62200977280736e-10,-19.80784387788026,-20.288585100463024,-2.413346843500676,0.00062371531782901,-6.536993168992922e-13,-0.2933611132506601],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748208],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.639999999999798,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.659999999999823,"qpos":[-1.9855103235697231,-1.582155679415357,1.3167354078238132,-1.3053760552033846,-1.5707963267949259,-0.4147139967748237,0.002933611169452104,0.00015630154901615585,0.0031934794795119496,-0.003429298940635765,0.002933611076243454,0.00015630111672494099,0.003197849379430456,-0.003437996891246698,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,6.605685717860895e-17,-1.475110067366256e-17,-2.880815291614279e-07],"qvel":[3.60891185392623e-13,2.967535696668402e-14,-1.485199393878618e-13,2.4041468064130042e-12,6.784496166541578e-12,2.438794984088208e-14,-3.6906319252504524e-10,-1.2936239348150205e-09,1.4707084024924897e-09,-6.645224199720911e-11,5.740253640910095e-10,7.891119858480823e-10,-5.75638234168781e-10,-1.5372419131373178e-10,2.0661021094104627e-17,8.632688924059774e-17,6.2194914390405355e-15,-4.611660968639528e-16,7.214276598767913e-16,-2.7092863689920524e-08],"joint_position_rad":[-1.9855103235697231,-1.582155679415357,1.3167354078238132,-1.3053760552033846,-1.5707963267949259,-0.4147139967748237],"joint_velocity_rad_s":[3.60891185392623e-13,2.967535696668402e-14,-1.485199393878618e-13,2.4041468064130042e-12,6.784496166541578e-12,2.438794984088208e-14],"linkage_position_rad":[0.002933611169452104,0.00015630154901615585,0.0031934794795119496,-0.003429298940635765,0.002933611076243454,0.00015630111672494099,0.003197849379430456,-0.003437996891246698],"tcp_position_m":[0.0681234861072667,0.48730461895029303,0.43500000000000993],"tcp_quaternion_wxyz":[7.849669562126863e-15,0.7071067811865482,0.7071067811865458,2.0313890549784053e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,6.605685717860895e-17,-1.475110067366256e-17,-2.880815291614279e-07],"object_linear_velocity_m_s":[2.0661021094104627e-17,8.632688924059774e-17,6.2194914390405355e-15],"object_angular_velocity_rad_s":[-4.611656804046095e-16,7.214279291628795e-16,-2.7092863689920547e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221248146,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737337,-1.3102027488896735,-1.5707950793627237,-0.4147139967748208,0.0],"actuator_force":[-1.3324097380973399e-10,-19.807843877864343,-20.288585100099226,-2.413346843384943,0.0006237154225345876,-9.947598300641403e-13,-0.29336111330958875],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482157],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.659999999999823,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482157],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.679999999999847,"qpos":[-1.9855103235697218,-1.582155679415357,1.3167354078238143,-1.3053760552033857,-1.570796326794931,-0.4147139967748237,0.002933611170158311,0.00015630155305663634,0.003193479475578539,-0.003429298941252381,0.0029336110753272956,0.00015630111409308718,0.0031978493815771974,-0.003437996890684834,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,5.597146275552882e-17,-6.1405261337570705e-18,-2.884678836174562e-07],"qvel":[-7.331257810961761e-12,-1.2638058720454298e-14,-2.167488893614989e-12,-1.4109021851725968e-11,-3.2751376996178726e-11,-2.065696951197072e-14,-2.828691356328139e-09,-1.6139900355985715e-08,1.5166797342812194e-08,1.3422200004185796e-09,1.9427971222470973e-09,1.0399992092422454e-08,-9.986124238852456e-09,-7.160413325586831e-10,1.5132655928574737e-17,8.4207882339008e-17,5.833688937983293e-15,-7.973693322911691e-16,8.562860244930761e-16,-4.9464727297603414e-08],"joint_position_rad":[-1.9855103235697218,-1.582155679415357,1.3167354078238143,-1.3053760552033857,-1.570796326794931,-0.4147139967748237],"joint_velocity_rad_s":[-7.331257810961761e-12,-1.2638058720454298e-14,-2.167488893614989e-12,-1.4109021851725968e-11,-3.2751376996178726e-11,-2.065696951197072e-14],"linkage_position_rad":[0.002933611170158311,0.00015630155305663634,0.003193479475578539,-0.003429298941252381,0.0029336110753272956,0.00015630111409308718,0.0031978493815771974,-0.003437996890684834],"tcp_position_m":[0.06812348610726726,0.48730461895029276,0.4350000000000094],"tcp_quaternion_wxyz":[1.0230594677604158e-14,0.7071067811865478,0.7071067811865465,2.124363562114437e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,5.597146275552882e-17,-6.1405261337570705e-18,-2.884678836174562e-07],"object_linear_velocity_m_s":[1.5132655928574737e-17,8.4207882339008e-17,5.833688937983293e-15],"object_angular_velocity_rad_s":[-7.973688376615221e-16,8.562864900610481e-16,-4.9464727297603467e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221262504,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.306591115273734,-1.3102027488896737,-1.5707950793627241,-0.41471399677482157,0.0],"actuator_force":[2.9408511181827635e-09,-19.807843877847063,-20.288585099293414,-2.413346841733187,0.0006237193784954798,3.126388037344441e-12,-0.2933611078448092],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033695,-1.5707963267948966,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.679999999999847,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033695,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.69999999999987,"qpos":[-1.9855103235697162,-1.582155679415357,1.3167354078238154,-1.3053760552033733,-1.570796326794901,-0.4147139967748237,0.0029336111708923394,0.00015630156050849763,0.0031934794696756794,-0.0034292989429429827,0.00293361107542502,0.00015630110916050867,0.0031978493861411564,-0.003437996890108622,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,4.2008272014101255e-17,-4.828702448103132e-18,-2.8879850513356484e-07],"qvel":[2.189048658747428e-12,8.540199368523325e-14,8.385497238803426e-13,2.9423073557418596e-12,5.94237740884882e-12,1.9043100571682942e-14,9.204593583130799e-10,4.926404165176309e-09,-4.759077193750508e-09,-3.9791949530053755e-10,-7.8541311069387e-10,-3.1687036433229674e-09,2.9858999760388187e-09,2.8307379867042205e-10,1.8317215048478276e-17,7.987343256008536e-17,5.712952184055306e-15,5.895749039043733e-16,-6.652304243524356e-16,-9.031010064604735e-08],"joint_position_rad":[-1.9855103235697162,-1.582155679415357,1.3167354078238154,-1.3053760552033733,-1.570796326794901,-0.4147139967748237],"joint_velocity_rad_s":[2.189048658747428e-12,8.540199368523325e-14,8.385497238803426e-13,2.9423073557418596e-12,5.94237740884882e-12,1.9043100571682942e-14],"linkage_position_rad":[0.0029336111708923394,0.00015630156050849763,0.0031934794696756794,-0.0034292989429429827,0.00293361107542502,0.00015630110916050867,0.0031978493861411564,-0.003437996890108622],"tcp_position_m":[0.06812348610725617,0.4873046189502932,0.4350000000000075],"tcp_quaternion_wxyz":[-1.3412869201479882e-15,0.7071067811865456,0.7071067811865489,9.325217852127142e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,4.2008272014101255e-17,-4.828702448103132e-18,-2.8879850513356484e-07],"object_linear_velocity_m_s":[1.8317215048478276e-17,7.987343256008536e-17,5.712952184055306e-15],"object_angular_velocity_rad_s":[5.895745205413349e-16,-6.652307573014851e-16,-9.031010064604747e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221277035,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737337,-1.310202748889673,-1.570795079362724,-0.41471399677482057,0.0],"actuator_force":[-8.785718819126487e-10,-19.807843877886626,-20.28858510049895,-2.413346843444174,0.0006237154942709822,-3.410605131648481e-13,-0.2933611129910992],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.69999999999987,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.719999999999896,"qpos":[-1.985510323569722,-1.582155679415357,1.316735407823813,-1.305376055203381,-1.5707963267949157,-0.4147139967748237,0.002933611169527578,0.00015630155049654865,0.0031934794783812313,-0.003429298941038699,0.0029336110764087995,0.00015630111572417674,0.0031978493804445465,-0.0034379968911696993,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,3.216637086746642e-17,-6.648896947516209e-18,-2.8914107285716847e-07],"qvel":[1.805676847786896e-12,4.5940400520322696e-14,5.094613963968233e-13,3.853291357549034e-12,9.215722500338675e-12,2.5879297753790635e-14,2.1031604530465942e-10,2.0030450610388433e-09,-1.7144395274080714e-09,-3.4110146404240253e-10,3.341555092441634e-11,-1.319533489196573e-09,1.3404019695652716e-09,6.27153171635182e-11,8.097516535048504e-18,4.1255089436134496e-17,5.638012129893107e-15,-1.5389041106394898e-15,7.879523820523508e-17,-9.784359840463736e-09],"joint_position_rad":[-1.985510323569722,-1.582155679415357,1.316735407823813,-1.305376055203381,-1.5707963267949157,-0.4147139967748237],"joint_velocity_rad_s":[1.805676847786896e-12,4.5940400520322696e-14,5.094613963968233e-13,3.853291357549034e-12,9.215722500338675e-12,2.5879297753790635e-14],"linkage_position_rad":[0.002933611169527578,0.00015630155049654865,0.0031934794783812313,-0.003429298941038699,0.0029336110764087995,0.00015630111572417674,0.0031978493804445465,-0.0034379968911696993],"tcp_position_m":[0.06812348610726345,0.4873046189502934,0.4350000000000098],"tcp_quaternion_wxyz":[3.668969171290756e-15,0.7071067811865478,0.7071067811865462,1.6858780181006437e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,3.216637086746642e-17,-6.648896947516209e-18,-2.8914107285716847e-07],"object_linear_velocity_m_s":[8.097516535048504e-18,4.1255089436134496e-17,5.638012129893107e-15],"object_angular_velocity_rad_s":[-1.5389040649432447e-15,7.879612875544782e-17,-9.78435984046375e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221250216,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737342,-1.3102027488896735,-1.5707950793627234,-0.4147139967748205,0.0],"actuator_force":[-7.130438461899757e-10,-19.807843877871164,-20.28858510036116,-2.4133468435314853,0.0006237151744699077,-9.947598300641403e-13,-0.2933611135154769],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238165,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.719999999999896,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238165,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.73999999999992,"qpos":[-1.9855103235697178,-1.582155679415357,1.3167354078238154,-1.3053760552033797,-1.5707963267949159,-0.4147139967748237,0.0029336111724388133,0.00015630156536225584,0.0031934794638576233,-0.003429298942073121,0.0029336110734317434,0.00015630110628689754,0.003197849388761574,-0.003437996890043106,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,2.7242478197847832e-17,-4.1839157441571966e-17,-2.8963502616010405e-07],"qvel":[-4.574227493014672e-12,3.992761285250023e-14,-1.2504625279484758e-12,-9.044424527072552e-12,-2.1355955869366684e-11,-5.892096307284554e-15,-1.5364490196058226e-09,-8.39953498877207e-09,7.931686365587092e-09,8.578678258264683e-10,9.906536339734474e-10,5.546296510501756e-09,-5.535836036296571e-09,-3.9628853960998454e-10,5.034885024600401e-17,3.325147646202023e-17,5.518663154745903e-15,-1.0383340607974058e-15,-1.3278451026169165e-16,-1.7863770210097734e-08],"joint_position_rad":[-1.9855103235697178,-1.582155679415357,1.3167354078238154,-1.3053760552033797,-1.5707963267949159,-0.4147139967748237],"joint_velocity_rad_s":[-4.574227493014672e-12,3.992761285250023e-14,-1.2504625279484758e-12,-9.044424527072552e-12,-2.1355955869366684e-11,-5.892096307284554e-15],"linkage_position_rad":[0.0029336111724388133,0.00015630156536225584,0.0031934794638576233,-0.003429298942073121,0.0029336110734317434,0.00015630110628689754,0.003197849388761574,-0.003437996890043106],"tcp_position_m":[0.06812348610726117,0.4873046189502932,0.43500000000000827],"tcp_quaternion_wxyz":[4.5671159053673014e-15,0.7071067811865465,0.7071067811865482,1.4998106808839864e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,2.7242478197847832e-17,-4.1839157441571966e-17,-2.8963502616010405e-07],"object_linear_velocity_m_s":[5.034885024600401e-17,3.325147646202023e-17,5.518663154745903e-15],"object_angular_velocity_rad_s":[-1.038334136220513e-15,-1.3278390781253757e-16,-1.7863770210097768e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221299097,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737335,-1.3102027488896737,-1.5707950793627243,-0.4147139967748206,0.0],"actuator_force":[1.8299033399671316e-09,-19.807843877868436,-20.288585099663578,-2.413346842242504,0.0006237182312816003,2.1316282072803006e-12,-0.2933611095645509],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.73999999999992,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.759999999999945,"qpos":[-1.9855103235697147,-1.582155679415357,1.3167354078238158,-1.3053760552033722,-1.5707963267948974,-0.4147139967748237,0.00293361117295828,0.00015630156783766523,0.003193479461151708,-0.0034292989418633793,0.0029336110733935565,0.0001563011046261198,0.0031978493910954304,-0.0034379968904197414,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999589,2.58335780216472e-17,-3.5294227357937885e-17,-2.900674728641664e-07],"qvel":[1.9562501351101023e-12,9.286404605324216e-14,7.933848850059665e-13,2.21681351299521e-12,4.068362716922639e-12,1.3856910191468359e-14,9.672393634693344e-10,4.965449280117172e-09,-4.801862557337955e-09,-4.3176092889158705e-10,-8.807255577753256e-10,-3.2111266171522307e-09,2.974892467120314e-09,3.380228423565169e-10,4.0155099140348976e-17,3.61809487871043e-17,5.4395597642413616e-15,-4.354170958628723e-16,1.056584522889629e-15,-3.2614733239822724e-08],"joint_position_rad":[-1.9855103235697147,-1.582155679415357,1.3167354078238158,-1.3053760552033722,-1.5707963267948974,-0.4147139967748237],"joint_velocity_rad_s":[1.9562501351101023e-12,9.286404605324216e-14,7.933848850059665e-13,2.21681351299521e-12,4.068362716922639e-12,1.3856910191468359e-14],"linkage_position_rad":[0.00293361117295828,0.00015630156783766523,0.003193479461151708,-0.0034292989418633793,0.0029336110733935565,0.0001563011046261198,0.0031978493910954304,-0.0034379968904197414],"tcp_position_m":[0.06812348610725445,0.4873046189502932,0.4350000000000074],"tcp_quaternion_wxyz":[-2.642336987064252e-15,0.7071067811865448,0.7071067811865492,7.880627803220035e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999589,2.58335780216472e-17,-3.5294227357937885e-17,-2.900674728641664e-07],"object_linear_velocity_m_s":[4.0155099140348976e-17,3.61809487871043e-17,5.4395597642413616e-15],"object_angular_velocity_rad_s":[-4.354164805989709e-16,1.0565847771752363e-15,-3.261473323982279e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221302623,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.3065911152737344,-1.310202748889674,-1.5707950793627243,-0.41471399677482107,0.0],"actuator_force":[-7.880771590862423e-10,-19.80784387789072,-20.288585100480304,-2.413346843372551,0.0006237156795805276,-8.526512829121202e-14,-0.29336111275016086],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482035],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.759999999999945,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.77999999999997,"qpos":[-1.985510323569719,-1.582155679415357,1.316735407823814,-1.3053760552033775,-1.5707963267949072,-0.4147139967748237,0.0029336111701933547,0.00015630155433117012,0.0031934794745702546,-0.0034292989413734734,0.0029336110759399904,0.0001563011132011563,0.003197849383033752,-0.003437996891034792,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,3.221245232085455e-17,-1.6184416240353854e-17,-2.9047160661178843e-07],"qvel":[2.3773657237110668e-12,6.972653249935644e-14,8.474772395150553e-13,3.83872438425085e-12,8.382227214663296e-12,2.3496543496393238e-14,5.855866288798118e-10,3.9053300343955564e-09,-3.575031151350003e-09,-4.972471756468703e-10,-3.792607068064098e-10,-2.5295075587646564e-09,2.3837582502392755e-09,2.3134973372537495e-10,1.5825013494046783e-17,5.565199899153455e-17,5.687972166001239e-15,2.0294439253530754e-15,2.4883497013725485e-15,-5.9546266649998725e-08],"joint_position_rad":[-1.985510323569719,-1.582155679415357,1.316735407823814,-1.3053760552033775,-1.5707963267949072,-0.4147139967748237],"joint_velocity_rad_s":[2.3773657237110668e-12,6.972653249935644e-14,8.474772395150553e-13,3.83872438425085e-12,8.382227214663296e-12,2.3496543496393238e-14],"linkage_position_rad":[0.0029336111701933547,0.00015630155433117012,0.0031934794745702546,-0.0034292989413734734,0.0029336110759399904,0.0001563011132011563,0.003197849383033752,-0.003437996891034792],"tcp_position_m":[0.0681234861072594,0.48730461895029337,0.4350000000000087],"tcp_quaternion_wxyz":[6.590426047160091e-16,0.7071067811865462,0.7071067811865478,1.3123263592373202e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,3.221245232085455e-17,-1.6184416240353854e-17,-2.9047160661178843e-07],"object_linear_velocity_m_s":[1.5825013494046783e-17,5.565199899153455e-17,5.687972166001239e-15],"object_angular_velocity_rad_s":[2.0294453728700487e-15,2.4883485262167156e-15,-5.9546266649998725e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221260604,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737346,-1.310202748889674,-1.5707950793627237,-0.41471399677482035,0.0],"actuator_force":[-9.486029739491642e-10,-19.80784387788026,-20.288585100497585,-2.4133468435321674,0.0006237152534822599,-7.105427357601002e-13,-0.29336111333829684],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.77999999999997,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.799999999999994,"qpos":[-1.9855103235697187,-1.582155679415357,1.316735407823815,-1.305376055203381,-1.5707963267949188,-0.4147139967748237,0.0029336111717616986,0.00015630156200793506,0.003193479467179684,-0.0034292989418185996,0.002933611074067152,0.00015630110841105538,0.0031978493867523623,-0.0034379968902650557,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,3.379557392367114e-17,-3.3272614600706104e-18,-2.907486123327246e-07],"qvel":[-1.6059492819024828e-12,5.709787689851753e-14,-7.131434509231963e-13,-1.6165285592685928e-12,-2.8158416318615427e-12,1.3208224128929657e-14,-5.892754246027114e-10,-3.0232416728062807e-09,2.9668767365179877e-09,3.128992832853095e-10,5.479636106045647e-10,1.973287941028102e-09,-1.870452950687116e-09,-2.1918281401109836e-10,-1.009308527600478e-17,1.0604992920810253e-16,6.2056136512327194e-15,4.315648662882376e-15,2.113405908610002e-15,-1.0871644559776272e-07],"joint_position_rad":[-1.9855103235697187,-1.582155679415357,1.316735407823815,-1.305376055203381,-1.5707963267949188,-0.4147139967748237],"joint_velocity_rad_s":[-1.6059492819024828e-12,5.709787689851753e-14,-7.131434509231963e-13,-1.6165285592685928e-12,-2.8158416318615427e-12,1.3208224128929657e-14],"linkage_position_rad":[0.0029336111717616986,0.00015630156200793506,0.003193479467179684,-0.0034292989418185996,0.002933611074067152,0.00015630110841105538,0.0031978493867523623,-0.0034379968902650557],"tcp_position_m":[0.06812348610726236,0.48730461895029314,0.43500000000000855],"tcp_quaternion_wxyz":[5.483263774328114e-15,0.7071067811865466,0.7071067811865479,1.633929547199995e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,3.379557392367114e-17,-3.3272614600706104e-18,-2.907486123327246e-07],"object_linear_velocity_m_s":[-1.009308527600478e-17,1.0604992920810253e-16,6.2056136512327194e-15],"object_angular_velocity_rad_s":[4.315649892544776e-15,2.1134034064201943e-15,-1.0871644559776275e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322128857,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.5707950793627243,-0.41471399677482096,0.0],"actuator_force":[6.443769962061197e-10,-19.80784387787571,-20.288585099875945,-2.4133468429846516,0.0006237163787545796,5.684341886080802e-14,-0.29336111208488347],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.41471399677482124],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.799999999999994,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.820000000000018,"qpos":[-1.9855103235697122,-1.582155679415357,1.3167354078238165,-1.3053760552033704,-1.5707963267948952,-0.4147139967748237,0.002933611173920382,0.0001563015724738126,0.0031934794566816824,-0.0034292989423014997,0.0029336110724858477,0.00015630110158221252,0.003197849393899452,-0.0034379968900689,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,3.9359764081953445e-17,4.676566291307069e-18,-2.9116099970711887e-07],"qvel":[1.577556899003445e-12,1.0256597520371549e-13,6.607544345660841e-13,1.517051357167999e-12,2.452105301292164e-12,1.126696082158024e-14,1.0682457017055939e-09,5.021150944860314e-09,-4.933370332368225e-09,-3.6663745520246597e-10,-1.0196605491081787e-09,-3.242118964120774e-09,3.0020341067984344e-09,3.480907051434564e-10,-4.064854828342797e-18,4.6332928243601085e-17,6.469291619581194e-15,-1.0539532941814453e-15,2.0873983926178219e-16,-1.1778536583341309e-08],"joint_position_rad":[-1.9855103235697122,-1.582155679415357,1.3167354078238165,-1.3053760552033704,-1.5707963267948952,-0.4147139967748237],"joint_velocity_rad_s":[1.577556899003445e-12,1.0256597520371549e-13,6.607544345660841e-13,1.517051357167999e-12,2.452105301292164e-12,1.126696082158024e-14],"linkage_position_rad":[0.002933611173920382,0.0001563015724738126,0.0031934794566816824,-0.0034292989423014997,0.0029336110724858477,0.00015630110158221252,0.003197849393899452,-0.0034379968900689],"tcp_position_m":[0.06812348610725255,0.48730461895029337,0.43500000000000705],"tcp_quaternion_wxyz":[-3.3825356517864543e-15,0.7071067811865439,0.7071067811865501,6.414839116439343e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,3.9359764081953445e-17,4.676566291307069e-18,-2.9116099970711887e-07],"object_linear_velocity_m_s":[-4.064854828342797e-18,4.6332928243601085e-17,6.469291619581194e-15],"object_angular_velocity_rad_s":[-1.0539531727376324e-15,2.087404539291373e-16,-1.1778536583341314e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221316136,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542831,1.3065911152737333,-1.3102027488896733,-1.5707950793627241,-0.41471399677482124,0.0],"actuator_force":[-6.416485121008009e-10,-19.807843877892992,-20.288585100430737,-2.4133468433030885,0.0006237158403337162,8.526512829121202e-14,-0.29336111256323727],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.820000000000018,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.840000000000042,"qpos":[-1.9855103235697154,-1.582155679415357,1.3167354078238152,-1.3053760552033735,-1.5707963267949017,-0.4147139967748237,0.002933611170921598,0.00015630155877380237,0.0031934794704919344,-0.003429298941973954,0.002933611075364358,0.00015630111028255944,0.0031978493857152137,-0.0034379968907014675,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,3.3981621251889677e-17,-1.2098127354243045e-18,-2.916288829491658e-07],"qvel":[2.403621962825428e-12,8.921466010692671e-14,9.343979304626763e-13,3.22125665542102e-12,6.475052923583908e-12,1.6666271730827257e-14,8.565331731812342e-10,4.945711642905538e-09,-4.662876624557931e-09,-5.272361652079406e-10,-7.069967576603681e-10,-3.1836090071215197e-09,2.947348565884399e-09,3.2875543533403667e-10,1.885802355063644e-18,4.122927907360805e-17,6.115408030481925e-15,-1.0661511412675204e-15,-2.702832804794258e-16,-2.1504633350244224e-08],"joint_position_rad":[-1.9855103235697154,-1.582155679415357,1.3167354078238152,-1.3053760552033735,-1.5707963267949017,-0.4147139967748237],"joint_velocity_rad_s":[2.403621962825428e-12,8.921466010692671e-14,9.343979304626763e-13,3.22125665542102e-12,6.475052923583908e-12,1.6666271730827257e-14],"linkage_position_rad":[0.002933611170921598,0.00015630155877380237,0.0031934794704919344,-0.003429298941973954,0.002933611075364358,0.00015630111028255944,0.0031978493857152137,-0.0034379968907014675],"tcp_position_m":[0.06812348610725596,0.4873046189502931,0.4350000000000078],"tcp_quaternion_wxyz":[-1.012081916723978e-15,0.7071067811865451,0.7071067811865491,9.621905176022822e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,3.3981621251889677e-17,-1.2098127354243045e-18,-2.916288829491658e-07],"object_linear_velocity_m_s":[1.885802355063644e-18,4.122927907360805e-17,6.115408030481925e-15],"object_angular_velocity_rad_s":[-1.0661512988601285e-15,-2.7028265717692265e-16,-2.1504633350244238e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221272618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.41471399677482107,0.0],"actuator_force":[-9.654286259319633e-10,-19.80784387788799,-20.288585100535784,-2.4133468434722545,0.000623715441179229,-3.694822225952521e-13,-0.2933611130619799],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482007],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.840000000000042,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482007],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.860000000000067,"qpos":[-1.9855103235697171,-1.582155679415357,1.3167354078238152,-1.3053760552033786,-1.5707963267949159,-0.4147139967748237,0.002933611171669659,0.0001563015619828905,0.0031934794673644587,-0.003429298941885777,0.002933611074284586,0.0001563011083915101,0.0031978493868073956,-0.003437996890306149,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,2.527712395341054e-17,1.2852918547412884e-17,-2.92086772177826e-07],"qvel":[1.9612901896821865e-13,5.73785872870191e-14,-1.0874006697292403e-13,1.4787717994819634e-12,4.206838826807196e-12,2.3972346430919133e-14,2.4822695177937707e-11,4.046323307870877e-10,-3.202314751329269e-10,8.354494420809802e-12,1.0091641105386683e-10,-2.64648605552644e-10,3.210723683008791e-10,-5.314336779033987e-11,-2.296377803508029e-17,3.3287945833853526e-17,5.925282337514867e-15,-9.113131929678444e-16,1.1086396265287727e-15,-3.9262029901316785e-08],"joint_position_rad":[-1.9855103235697171,-1.582155679415357,1.3167354078238152,-1.3053760552033786,-1.5707963267949159,-0.4147139967748237],"joint_velocity_rad_s":[1.9612901896821865e-13,5.73785872870191e-14,-1.0874006697292403e-13,1.4787717994819634e-12,4.206838826807196e-12,2.3972346430919133e-14],"linkage_position_rad":[0.002933611171669659,0.0001563015619828905,0.0031934794673644587,-0.003429298941885777,0.002933611074284586,0.0001563011083915101,0.0031978493868073956,-0.003437996890306149],"tcp_position_m":[0.06812348610726068,0.48730461895029287,0.43500000000000816],"tcp_quaternion_wxyz":[4.5948686979484425e-15,0.7071067811865459,0.7071067811865486,1.461428807109927e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,2.527712395341054e-17,1.2852918547412884e-17,-2.92086772177826e-07],"object_linear_velocity_m_s":[-2.296377803508029e-17,3.3287945833853526e-17,5.925282337514867e-15],"object_angular_velocity_rad_s":[-9.113125463390124e-16,1.1086401608785053e-15,-3.926202990131682e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287054,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737346,-1.310202748889674,-1.5707950793627241,-0.41471399677482007,0.0],"actuator_force":[-7.912603905424476e-11,-19.80784387787571,-20.288585100117416,-2.413346843295585,0.000623715675146741,-5.968558980384842e-13,-0.29336111292640776],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.860000000000067,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.88000000000009,"qpos":[-1.985510323569716,-1.582155679415357,1.3167354078238156,-1.305376055203379,-1.5707963267949188,-0.4147139967748237,0.0029336111720928743,0.000156301562807616,0.0031934794659276284,-0.003429298941545234,0.0029336110737252386,0.00015630110790338956,0.0031978493875825602,-0.003437996890438393,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,2.078634041341688e-17,3.138520845625177e-17,-2.9244883731848917e-07],"qvel":[-4.862357656934239e-12,3.892427074574521e-14,-1.3402680265001928e-12,-9.667089898022493e-12,-2.280915421455737e-11,-7.45740045575649e-15,-1.7274042430209214e-09,-9.330981306985555e-09,8.84243068557819e-09,8.307079229229029e-10,1.1352255361328605e-09,6.115338427637563e-09,-6.084616996966623e-09,-3.865508789998536e-10,-8.538743363152516e-17,4.1035940022438675e-17,5.789280016998285e-15,6.644401506604752e-16,5.149402434842877e-15,-7.168255170241592e-08],"joint_position_rad":[-1.985510323569716,-1.582155679415357,1.3167354078238156,-1.305376055203379,-1.5707963267949188,-0.4147139967748237],"joint_velocity_rad_s":[-4.862357656934239e-12,3.892427074574521e-14,-1.3402680265001928e-12,-9.667089898022493e-12,-2.280915421455737e-11,-7.45740045575649e-15],"linkage_position_rad":[0.0029336111720928743,0.000156301562807616,0.0031934794659276284,-0.003429298941545234,0.0029336110737252386,0.00015630110790338956,0.0031978493875825602,-0.003437996890438393],"tcp_position_m":[0.0681234861072608,0.48730461895029253,0.43500000000000805],"tcp_quaternion_wxyz":[6.057384481927088e-15,0.7071067811865454,0.7071067811865489,1.5050664605160204e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,2.078634041341688e-17,3.138520845625177e-17,-2.9244883731848917e-07],"object_linear_velocity_m_s":[-8.538743363152516e-17,4.1035940022438675e-17,5.789280016998285e-15],"object_angular_velocity_rad_s":[6.644431580343293e-16,5.14940204919254e-15,-7.1682551702416e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221291565,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.3065911152737333,-1.3102027488896733,-1.5707950793627243,-0.4147139967748206,0.0],"actuator_force":[1.9417711882852018e-09,-19.807843877867526,-20.288585099628563,-2.413346842180431,0.0006237183780513078,2.2737367544323206e-12,-0.2933611093300121],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.88000000000009,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.900000000000116,"qpos":[-1.9855103235697127,-1.582155679415357,1.3167354078238165,-1.3053760552033706,-1.5707963267948983,-0.4147139967748237,0.0029336111718318535,0.00015630156372551198,0.0031934794658260756,-0.003429298942532603,0.0029336110745529997,0.00015630110710387624,0.0031978493885911276,-0.00343799689030981,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,1.717900380605598e-17,3.822617358920016e-17,-2.927207463118701e-07],"qvel":[2.1328765738796805e-12,1.0122041719970225e-13,8.709632533131451e-13,2.424240448012945e-12,4.4528752120975564e-12,1.389796844990295e-14,1.0363186411104614e-09,5.389302602999091e-09,-5.180362201339541e-09,-4.93283513940181e-10,-9.400313100286008e-10,-3.4647419932377857e-09,3.188623000132646e-09,3.778825099285686e-10,-4.3695455134090095e-17,2.0881818999741535e-17,5.751809989917185e-15,-6.865637847865319e-16,-1.5636545492565006e-15,-7.7662174565379e-09],"joint_position_rad":[-1.9855103235697127,-1.582155679415357,1.3167354078238165,-1.3053760552033706,-1.5707963267948983,-0.4147139967748237],"joint_velocity_rad_s":[2.1328765738796805e-12,1.0122041719970225e-13,8.709632533131451e-13,2.424240448012945e-12,4.4528752120975564e-12,1.389796844990295e-14],"linkage_position_rad":[0.0029336111718318535,0.00015630156372551198,0.0031934794658260756,-0.003429298942532603,0.0029336110745529997,0.00015630110710387624,0.0031978493885911276,-0.00343799689030981],"tcp_position_m":[0.06812348610725358,0.4873046189502929,0.43500000000000694],"tcp_quaternion_wxyz":[-1.8536037649210647e-15,0.7071067811865442,0.70710678118655,7.139676358312055e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,1.717900380605598e-17,3.822617358920016e-17,-2.927207463118701e-07],"object_linear_velocity_m_s":[-4.3695455134090095e-17,2.0881818999741535e-17,5.751809989917185e-15],"object_angular_velocity_rad_s":[-6.865647008084139e-16,-1.5636541470464757e-15,-7.76621745653791e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221287391,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.310202748889674,-1.5707950793627241,-0.41471399677482107,0.0],"actuator_force":[-8.626557246316224e-10,-19.807843877893447,-20.28858510051259,-2.413346843394038,0.0006237156417228107,-8.526512829121202e-14,-0.29336111280067934],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948961,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.900000000000116,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948961,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.92000000000014,"qpos":[-1.9855103235697156,-1.582155679415357,1.3167354078238156,-1.3053760552033762,-1.5707963267949108,-0.4147139967748237,0.0029336111719838287,0.00015630156405652734,0.003193479465464689,-0.003429298942101678,0.0029336110741215115,0.00015630110704346575,0.0031978493881207127,-0.003437996890207033,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,7.821980591364659e-18,4.571330478837852e-17,-2.932171834682112e-07],"qvel":[1.1347073082972728e-12,6.238662558718842e-14,3.0456103378596083e-13,2.4428344290156615e-12,5.891550892826346e-12,2.1999670131368224e-14,4.33466953492811e-10,2.4921823837571687e-09,-2.389452964547748e-09,-1.4688965638434338e-10,-2.82037155557431e-10,-1.6157930580990627e-09,1.5972974828498337e-09,7.589228567533737e-11,-5.678153221885065e-17,9.027846534587987e-18,5.631073235989199e-15,-7.637090050771582e-16,-1.2709506771404606e-15,-1.4179151861480513e-08],"joint_position_rad":[-1.9855103235697156,-1.582155679415357,1.3167354078238156,-1.3053760552033762,-1.5707963267949108,-0.4147139967748237],"joint_velocity_rad_s":[1.1347073082972728e-12,6.238662558718842e-14,3.0456103378596083e-13,2.4428344290156615e-12,5.891550892826346e-12,2.1999670131368224e-14],"linkage_position_rad":[0.0029336111719838287,0.00015630156405652734,0.003193479465464689,-0.003429298942101678,0.0029336110741215115,0.00015630110704346575,0.0031978493881207127,-0.003437996890207033],"tcp_position_m":[0.06812348610725862,0.48730461895029287,0.43500000000000805],"tcp_quaternion_wxyz":[2.853585759076679e-15,0.7071067811865454,0.7071067811865489,1.24939512814341e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,7.821980591364659e-18,4.571330478837852e-17,-2.932171834682112e-07],"object_linear_velocity_m_s":[-5.678153221885065e-17,9.027846534587987e-18,5.631073235989199e-15],"object_angular_velocity_rad_s":[-7.637097517025356e-16,-1.2709502290532188e-15,-1.4179151861480534e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322129211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737344,-1.310202748889674,-1.5707950793627237,-0.41471399677482057,0.0],"actuator_force":[-4.5793058234266937e-10,-19.807843877877986,-20.28858510028431,-2.413346843393242,0.0006237155043891107,-6.252776074688882e-13,-0.293361113062416],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033706,-1.5707963267948966,-0.4147139967748208],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.92000000000014,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033706,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.940000000000165,"qpos":[-1.9855103235697176,-1.582155679415357,1.3167354078238152,-1.3053760552033815,-1.5707963267949223,-0.4147139967748237,0.0029336111712738055,0.0001563015589136415,0.003193479469868913,-0.0034292989413691453,0.002933611074500887,0.00015630111040982402,0.0031978493851652365,-0.0034379968906198192,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,2.034716592705534e-18,3.7822456005180203e-17,-2.9365825685709244e-07],"qvel":[-1.6812095447654115e-12,5.564977449028673e-14,-7.528717523300435e-13,-1.6893187500319747e-12,-2.9095514932672954e-12,1.407461850714467e-14,-7.031199944351949e-10,-3.4764582117312827e-09,3.460319465552407e-09,2.4533767964141794e-10,6.612741971548942e-10,2.247623213298686e-09,-2.13748681545365e-09,-1.996564716006547e-10,-4.966790083611944e-17,6.5536474241301725e-18,5.442335321802923e-15,-4.0999874321208377e-16,-1.257435920112439e-15,-2.588755061726693e-08],"joint_position_rad":[-1.9855103235697176,-1.582155679415357,1.3167354078238152,-1.3053760552033815,-1.5707963267949223,-0.4147139967748237],"joint_velocity_rad_s":[-1.6812095447654115e-12,5.564977449028673e-14,-7.528717523300435e-13,-1.6893187500319747e-12,-2.9095514932672954e-12,1.407461850714467e-14],"linkage_position_rad":[0.0029336111712738055,0.0001563015589136415,0.003193479469868913,-0.0034292989413691453,0.002933611074500887,0.00015630111040982402,0.0031978493851652365,-0.0034379968906198192],"tcp_position_m":[0.06812348610726263,0.4873046189502927,0.4350000000000085],"tcp_quaternion_wxyz":[7.044118773491364e-15,0.7071067811865459,0.7071067811865483,1.7031020467113866e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,2.034716592705534e-18,3.7822456005180203e-17,-2.9365825685709244e-07],"object_linear_velocity_m_s":[-4.966790083611944e-17,6.5536474241301725e-18,5.442335321802923e-15],"object_angular_velocity_rad_s":[-4.0999948368315607e-16,-1.2574356792078438e-15,-2.5887550617266977e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221279501,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737342,-1.3102027488896741,-1.5707950793627241,-0.4147139967748208,0.0],"actuator_force":[6.725713319610804e-10,-19.807843877874802,-20.28858509986094,-2.4133468429773757,0.0006237163900095766,2.842170943040401e-14,-0.29336111207950566],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.940000000000165,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.96000000000019,"qpos":[-1.9855103235697107,-1.582155679415357,1.3167354078238174,-1.3053760552033693,-1.5707963267948952,-0.4147139967748237,0.0029336111728627073,0.00015630156877131934,0.0031934794609735483,-0.0034292989430279707,0.0029336110735795904,0.0001563011038514305,0.003197849391550187,-0.003437996889901461,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999578,-5.710722520316792e-18,4.599377687644567e-17,-2.940815004461961e-07],"qvel":[1.72350555130425e-12,1.0886177106217126e-13,7.251135863884969e-13,1.6597360260451612e-12,2.6887870665514416e-12,1.2623675150801682e-14,1.1475993205676578e-09,5.4518174502188376e-09,-5.327759541237633e-09,-4.18365653645196e-10,-1.0933974160065129e-09,-3.5041025144558604e-09,3.22521630644001e-09,3.880179441784669e-10,-7.634857008037988e-17,-1.0228457544857518e-17,5.375721940325412e-15,-7.904029569748831e-16,1.4136202221766939e-15,-4.726413000640107e-08],"joint_position_rad":[-1.9855103235697107,-1.582155679415357,1.3167354078238174,-1.3053760552033693,-1.5707963267948952,-0.4147139967748237],"joint_velocity_rad_s":[1.72350555130425e-12,1.0886177106217126e-13,7.251135863884969e-13,1.6597360260451612e-12,2.6887870665514416e-12,1.2623675150801682e-14],"linkage_position_rad":[0.0029336111728627073,0.00015630156877131934,0.0031934794609735483,-0.0034292989430279707,0.0029336110735795904,0.0001563011038514305,0.003197849391550187,-0.003437996889901461],"tcp_position_m":[0.06812348610725161,0.48730461895029287,0.43500000000000627],"tcp_quaternion_wxyz":[-2.902581056620878e-15,0.7071067811865436,0.7071067811865507,5.522118290422127e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999578,-5.710722520316792e-18,4.599377687644567e-17,-2.940815004461961e-07],"object_linear_velocity_m_s":[-7.634857008037988e-17,-1.0228457544857518e-17,5.375721940325412e-15],"object_angular_velocity_rad_s":[-7.904021298833479e-16,1.413620686522404e-15,-4.726413000640116e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221302708,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737337,-1.3102027488896735,-1.5707950793627243,-0.41471399677482096,0.0],"actuator_force":[-7.030394044704735e-10,-19.807843877896175,-20.288585100457567,-2.413346843318095,0.0006237158165731671,1.1368683772161603e-13,-0.2933611125931244],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.96000000000019,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.980000000000214,"qpos":[-1.985510323569714,-1.582155679415357,1.3167354078238158,-1.305376055203374,-1.5707963267949048,-0.4147139967748237,0.0029336111725768188,0.00015630156733175264,0.0031934794623322484,-0.00342929894237786,0.0029336110736553236,0.0001563011049124753,0.003197849390154059,-0.0034379968900241473,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,2.814661597145778e-18,4.5276320387578483e-17,-2.943974132020926e-07],"qvel":[1.4915313255037948e-12,7.116897372444134e-14,5.135362859808823e-13,2.4130301255088877e-12,5.323356470035148e-12,1.9714704270257966e-14,7.077098229206195e-10,3.674866960537187e-09,-3.6083468611360634e-09,-2.0569360070564273e-10,-5.81802331554014e-10,-2.376521690071626e-09,2.2988754189210534e-09,1.6264851102796483e-10,-1.0983261348924185e-16,5.41430288830321e-17,6.109856915358798e-15,5.135804243535352e-15,3.39145230890624e-15,-8.629236571236202e-08],"joint_position_rad":[-1.985510323569714,-1.582155679415357,1.3167354078238158,-1.305376055203374,-1.5707963267949048,-0.4147139967748237],"joint_velocity_rad_s":[1.4915313255037948e-12,7.116897372444134e-14,5.135362859808823e-13,2.4130301255088877e-12,5.323356470035148e-12,1.9714704270257966e-14],"linkage_position_rad":[0.0029336111725768188,0.00015630156733175264,0.0031934794623322484,-0.00342929894237786,0.0029336110736553236,0.0001563011049124753,0.003197849390154059,-0.0034379968900241473],"tcp_position_m":[0.06812348610725609,0.48730461895029287,0.4350000000000076],"tcp_quaternion_wxyz":[6.263830714932756e-16,0.7071067811865446,0.7071067811865495,1.0044703988925664e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,2.814661597145778e-18,4.5276320387578483e-17,-2.943974132020926e-07],"object_linear_velocity_m_s":[-1.0983261348924185e-16,5.41430288830321e-17,6.109856915358798e-15],"object_angular_velocity_rad_s":[5.135806232590034e-15,3.391449285456454e-15,-8.629236571236202e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221301145,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737342,-1.310202748889674,-1.5707950793627241,-0.4147139967748206,0.0],"actuator_force":[-6.039044819772243e-10,-19.80784387788117,-20.28858510036889,-2.413346843391423,0.0006237155580492981,-4.263256414560601e-13,-0.2933611129411446],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.980000000000214,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.000000000000238,"qpos":[-1.9855103235697174,-1.582155679415357,1.3167354078238152,-1.3053760552033797,-1.5707963267949168,-0.4147139967748237,0.0029336111711131463,0.00015630155873801917,0.0031934794702688355,-0.0034292989415153274,0.0029336110747997567,0.00015630111049927089,0.003197849385099615,-0.003437996890623689,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,1.9189084614962473e-17,4.2491131189387596e-17,-2.94724740700069e-07],"qvel":[2.5936161894052467e-13,5.712047552899489e-14,-9.507207844141994e-14,1.6463178066098544e-12,4.619906651611839e-12,2.022433564334684e-14,-4.068910935591302e-11,2.5900757468488836e-10,-1.049542384950344e-10,-8.275611675711135e-11,1.8057833163859647e-10,-1.8284731504192012e-10,2.2336173649493156e-10,-2.1613989917708098e-11,-5.3494609123973666e-17,2.0065365466351128e-17,6.344391529310861e-15,-1.3710684333840305e-16,-1.85474379668333e-15,-9.349071162302874e-09],"joint_position_rad":[-1.9855103235697174,-1.582155679415357,1.3167354078238152,-1.3053760552033797,-1.5707963267949168,-0.4147139967748237],"joint_velocity_rad_s":[2.5936161894052467e-13,5.712047552899489e-14,-9.507207844141994e-14,1.6463178066098544e-12,4.619906651611839e-12,2.022433564334684e-14],"linkage_position_rad":[0.0029336111711131463,0.00015630155873801917,0.0031934794702688355,-0.0034292989415153274,0.0029336110747997567,0.00015630111049927089,0.003197849385099615,-0.003437996890623689],"tcp_position_m":[0.06812348610726117,0.4873046189502928,0.43500000000000816],"tcp_quaternion_wxyz":[4.937359704984288e-15,0.7071067811865459,0.7071067811865486,1.5224810626466008e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,1.9189084614962473e-17,4.2491131189387596e-17,-2.94724740700069e-07],"object_linear_velocity_m_s":[-5.3494609123973666e-17,2.0065365466351128e-17,6.344391529310861e-15],"object_angular_velocity_rad_s":[-1.3710793741065347e-16,-1.8547437155066502e-15,-9.349071162302876e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221277381,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737348,-1.3102027488896741,-1.570795079362724,-0.41471399677482096,0.0],"actuator_force":[-1.0413714335300028e-10,-19.80784387787571,-20.28858510012242,-2.4133468433118423,0.0006237156343331662,-6.536993168992922e-13,-0.29336111299509127],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.000000000000238,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.020000000000262,"qpos":[-1.985510323569716,-1.582155679415357,1.3167354078238158,-1.3053760552033795,-1.5707963267949194,-0.4147139967748237,0.0029336111708571583,0.0001563015582116891,0.0031934794710907553,-0.0034292989422166405,0.0029336110749380883,0.00015630111073035514,0.0031978493846628827,-0.003437996890288986,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,2.0988511736326147e-17,5.648722946463685e-17,-2.9519671890357907e-07],"qvel":[-5.283253117654869e-12,3.5374717505042296e-14,-1.4638011667248096e-12,-1.0522782387417856e-11,-2.4817877145065463e-11,-9.759209867364046e-15,-1.8982149241173666e-09,-1.0203671744619741e-08,9.69018325389908e-09,8.880864126973275e-10,1.2479355808434017e-09,6.653534968354836e-09,-6.6410874668766e-09,-4.1112871367559396e-10,-7.09057656848701e-17,2.5101876015762864e-17,6.5067616466622914e-15,-5.258748189157611e-16,-1.3629156883392005e-15,-1.706904300785592e-08],"joint_position_rad":[-1.985510323569716,-1.582155679415357,1.3167354078238158,-1.3053760552033795,-1.5707963267949194,-0.4147139967748237],"joint_velocity_rad_s":[-5.283253117654869e-12,3.5374717505042296e-14,-1.4638011667248096e-12,-1.0522782387417856e-11,-2.4817877145065463e-11,-9.759209867364046e-15],"linkage_position_rad":[0.0029336111708571583,0.0001563015582116891,0.0031934794710907553,-0.0034292989422166405,0.0029336110749380883,0.00015630111073035514,0.0031978493846628827,-0.003437996890288986],"tcp_position_m":[0.0681234861072611,0.48730461895029265,0.43500000000000794],"tcp_quaternion_wxyz":[6.287361202355277e-15,0.7071067811865456,0.7071067811865489,1.5391663628050914e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,2.0988511736326147e-17,5.648722946463685e-17,-2.9519671890357907e-07],"object_linear_velocity_m_s":[-7.09057656848701e-17,2.5101876015762864e-17,6.5067616466622914e-15],"object_angular_velocity_rad_s":[-5.25875625500514e-16,-1.3629153771494134e-15,-1.7069043007855926e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322127562,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.306591115273734,-1.3102027488896735,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[2.1100277081131935e-09,-19.80784387786707,-20.288585099578086,-2.413346842094711,0.0006237185793906974,2.4726887204451486e-12,-0.29336110903836565],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.020000000000262,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.040000000000287,"qpos":[-1.9855103235697122,-1.582155679415357,1.3167354078238165,-1.3053760552033715,-1.5707963267949006,-0.4147139967748237,0.002933611173353965,0.00015630157122220565,0.0031934794585263284,-0.003429298942648048,0.0029336110729674845,0.00015630110240407935,0.0031978493925286433,-0.0034379968897891885,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,7.893426893680201e-18,6.67622563885947e-17,-2.9566553958211203e-07],"qvel":[1.4862549844054809e-12,7.632976376749057e-14,5.677640620472606e-13,1.9756772060484164e-12,4.010131990891014e-12,1.758517339460553e-14,8.886489221006765e-10,4.254967056768898e-09,-4.247776335276002e-09,-2.029571577070225e-10,-8.005725045208958e-10,-2.7505243383358628e-09,2.6413831526830724e-09,2.1101003584990345e-10,-9.130956014827642e-17,7.97944928576064e-18,6.6330495157134025e-15,-9.78265841046979e-16,-4.425170078124439e-16,-3.1163762062143006e-08],"joint_position_rad":[-1.9855103235697122,-1.582155679415357,1.3167354078238165,-1.3053760552033715,-1.5707963267949006,-0.4147139967748237],"joint_velocity_rad_s":[1.4862549844054809e-12,7.632976376749057e-14,5.677640620472606e-13,1.9756772060484164e-12,4.010131990891014e-12,1.758517339460553e-14],"linkage_position_rad":[0.002933611173353965,0.00015630157122220565,0.0031934794585263284,-0.003429298942648048,0.0029336110729674845,0.00015630110240407935,0.0031978493925286433,-0.0034379968897891885],"tcp_position_m":[0.06812348610725398,0.48730461895029303,0.43500000000000716],"tcp_quaternion_wxyz":[-1.0656372381360907e-15,0.7071067811865442,0.70710678118655,7.92764288509703e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,7.893426893680201e-18,6.67622563885947e-17,-2.9566553958211203e-07],"object_linear_velocity_m_s":[-9.130956014827642e-17,7.97944928576064e-18,6.6330495157134025e-15],"object_angular_velocity_rad_s":[-9.782661068819945e-16,-4.4251642884139244e-16,-3.116376206214303e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221312616,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737348,-1.3102027488896737,-1.5707950793627243,-0.4147139967748206,0.0],"actuator_force":[-6.052687240298837e-10,-19.807843877883897,-20.288585100390264,-2.413346843348677,0.0006237156870838589,-2.2737367544323206e-13,-0.29336111275645455],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.040000000000287,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.06000000000031,"qpos":[-1.985510323569716,-1.582155679415357,1.3167354078238154,-1.3053760552033769,-1.5707963267949108,-0.4147139967748237,0.002933611171390482,0.00015630156083771323,0.0031934794684176596,-0.0034292989418302907,0.0029336110746891048,0.0001563011091279968,0.0031978493863915394,-0.0034379968904897163,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,7.764587625938782e-19,6.847597355159854e-17,-2.960516941417576e-07],"qvel":[1.2705179221116555e-12,6.393436187169029e-14,3.523734302228153e-13,2.6840224304089666e-12,6.42100214900167e-12,2.2751934110272414e-14,4.0092550745631233e-10,2.5405848303448273e-09,-2.3562720039601842e-09,-2.48642162413087e-10,-2.333078061618866e-10,-1.6536689273041964e-09,1.6019683466871246e-09,1.1812406735894298e-10,-1.164759963355932e-16,-3.119133744748064e-18,6.720479578902633e-15,-6.30401215350466e-16,1.5181199264901507e-15,-5.6897159695414014e-08],"joint_position_rad":[-1.985510323569716,-1.582155679415357,1.3167354078238154,-1.3053760552033769,-1.5707963267949108,-0.4147139967748237],"joint_velocity_rad_s":[1.2705179221116555e-12,6.393436187169029e-14,3.523734302228153e-13,2.6840224304089666e-12,6.42100214900167e-12,2.2751934110272414e-14],"linkage_position_rad":[0.002933611171390482,0.00015630156083771323,0.0031934794684176596,-0.0034292989418302907,0.0029336110746891048,0.0001563011091279968,0.0031978493863915394,-0.0034379968904897163],"tcp_position_m":[0.06812348610725878,0.487304618950293,0.4350000000000079],"tcp_quaternion_wxyz":[2.7467309932963963e-15,0.7071067811865456,0.7071067811865489,1.2766150366447225e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,7.764587625938782e-19,6.847597355159854e-17,-2.960516941417576e-07],"object_linear_velocity_m_s":[-1.164759963355932e-16,-3.119133744748064e-18,6.720479578902633e-15],"object_angular_velocity_rad_s":[-6.304003242585807e-16,1.5181202998409408e-15,-5.689715969541408e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221282452,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737342,-1.3102027488896737,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-5.115907697472721e-10,-19.80784387787844,-20.288585100303408,-2.413346843416889,0.0006237154512973575,-6.821210263296962e-13,-0.29336111314206786],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.06000000000031,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.080000000000336,"qpos":[-1.9855103235697178,-1.582155679415357,1.3167354078238147,-1.3053760552033813,-1.570796326794923,-0.4147139967748237,0.002933611169949554,0.0001563015539377218,0.0031934794754488525,-0.003429298942036726,0.002933611075797204,0.0001563011134696598,0.00319784938201144,-0.003437996890479436,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,-1.9290050942084557e-18,6.052070587061705e-17,-2.963709765032787e-07],"qvel":[-1.8169078170250644e-12,5.5105731288999625e-14,-8.190855964180808e-13,-1.8335434203276298e-12,-3.154202353958021e-12,1.459365179761183e-14,-7.788758384333951e-10,-3.8162381480367305e-09,3.820452027927434e-09,2.5075442927375297e-10,7.335279148546784e-10,2.452380885033716e-09,-2.345807026873617e-09,-2.098899326802942e-10,-1.4518829259019888e-16,-4.65799798238893e-18,6.7870929603801425e-15,-4.77969582905979e-16,3.6487709537687484e-15,-1.0387984528151372e-07],"joint_position_rad":[-1.9855103235697178,-1.582155679415357,1.3167354078238147,-1.3053760552033813,-1.570796326794923,-0.4147139967748237],"joint_velocity_rad_s":[-1.8169078170250644e-12,5.5105731288999625e-14,-8.190855964180808e-13,-1.8335434203276298e-12,-3.154202353958021e-12,1.459365179761183e-14],"linkage_position_rad":[0.002933611169949554,0.0001563015539377218,0.0031934794754488525,-0.003429298942036726,0.002933611075797204,0.0001563011134696598,0.00319784938201144,-0.003437996890479436],"tcp_position_m":[0.06812348610726307,0.48730461895029287,0.43500000000000894],"tcp_quaternion_wxyz":[7.369456306882863e-15,0.7071067811865461,0.7071067811865481,1.746738030296788e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,-1.9290050942084557e-18,6.052070587061705e-17,-2.963709765032787e-07],"object_linear_velocity_m_s":[-1.4518829259019888e-16,-4.65799798238893e-18,6.7870929603801425e-15],"object_angular_velocity_rad_s":[-4.779674327000377e-16,3.64877123667997e-15,-1.0387984528151386e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221262124,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737342,-1.3102027488896735,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[7.271410140674561e-10,-19.807843877874348,-20.288585099833654,-2.41334684296271,0.0006237164147933072,5.684341886080802e-14,-0.2933611120605983],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.080000000000336,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.10000000000036,"qpos":[-1.9855103235697114,-1.582155679415357,1.3167354078238167,-1.3053760552033704,-1.5707963267948983,-0.4147139967748237,0.002933611174245599,0.00015630157530951131,0.003193479454459795,-0.0034292989428856124,0.0029336110721313534,0.00015630109975387627,0.003197849395028883,-0.0034379968895419306,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,-2.7823302482591994e-18,5.466753718482014e-17,-2.967650175005959e-07],"qvel":[1.2869347360335844e-12,8.256332586958281e-14,5.17421618800784e-13,1.4312926815527166e-12,2.627912071574002e-12,1.5630705933813924e-14,1.0018785773225044e-09,4.4462192236354255e-09,-4.506324361087355e-09,-1.6103482980423137e-10,-9.488121979166514e-10,-2.8739134469145802e-09,2.7585147605776975e-09,2.2732026489020988e-10,-6.850315857676096e-17,-3.1844003791859003e-18,6.24863479343694e-15,6.33339854605633e-17,-2.323901744962817e-15,-1.1254530546805293e-08],"joint_position_rad":[-1.9855103235697114,-1.582155679415357,1.3167354078238167,-1.3053760552033704,-1.5707963267948983,-0.4147139967748237],"joint_velocity_rad_s":[1.2869347360335844e-12,8.256332586958281e-14,5.17421618800784e-13,1.4312926815527166e-12,2.627912071574002e-12,1.5630705933813924e-14],"linkage_position_rad":[0.002933611174245599,0.00015630157530951131,0.003193479454459795,-0.0034292989428856124,0.0029336110721313534,0.00015630109975387627,0.003197849395028883,-0.0034379968895419306],"tcp_position_m":[0.06812348610725287,0.487304618950293,0.43500000000000694],"tcp_quaternion_wxyz":[-1.854795682416482e-15,0.7071067811865438,0.7071067811865505,6.9489575154199324e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,-2.7823302482591994e-18,5.466753718482014e-17,-2.967650175005959e-07],"object_linear_velocity_m_s":[-6.850315857676096e-17,-3.1844003791859003e-18,6.24863479343694e-15],"object_angular_velocity_rad_s":[6.333260492455327e-17,-2.323901782615661e-15,-1.1254530546805312e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221324997,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737342,-1.3102027488896735,-1.5707950793627246,-0.4147139967748206,0.0],"actuator_force":[-5.275069270282984e-10,-19.80784387788617,-20.288585100372075,-2.4133468432946756,0.0006237158239628116,-2.842170943040401e-14,-0.2933611125841795],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748208],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.10000000000036,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.120000000000385,"qpos":[-1.9855103235697154,-1.582155679415357,1.3167354078238158,-1.3053760552033744,-1.5707963267949057,-0.4147139967748237,0.0029336111719629253,0.0001563015642412486,0.0031934794652408774,-0.003429298942208809,0.002933611074256492,0.00015630110692585111,0.003197849388450012,-0.0034379968902556826,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,6.169551300892995e-18,6.527984243754636e-17,-2.9721208545362166e-07],"qvel":[1.6566940369661434e-12,7.468123586269658e-14,5.765279380988552e-13,2.653907732560132e-12,5.816355770970053e-12,1.9297483320486285e-14,6.991999255756628e-10,3.8414421768758705e-09,-3.690560561278128e-09,-3.1021812563015117e-10,-5.593761317869659e-10,-2.488318371213602e-09,2.3663708543141355e-09,2.1253621308119254e-10,-8.249262450194193e-17,9.998627241134751e-18,5.7129521840553e-15,2.317951381826357e-16,-1.2238447902448684e-15,-2.054793065553707e-08],"joint_position_rad":[-1.9855103235697154,-1.582155679415357,1.3167354078238158,-1.3053760552033744,-1.5707963267949057,-0.4147139967748237],"joint_velocity_rad_s":[1.6566940369661434e-12,7.468123586269658e-14,5.765279380988552e-13,2.653907732560132e-12,5.816355770970053e-12,1.9297483320486285e-14],"linkage_position_rad":[0.0029336111719629253,0.0001563015642412486,0.0031934794652408774,-0.003429298942208809,0.002933611074256492,0.00015630110692585111,0.003197849388450012,-0.0034379968902556826],"tcp_position_m":[0.06812348610725695,0.4873046189502931,0.4350000000000074],"tcp_quaternion_wxyz":[7.568342253104165e-16,0.7071067811865456,0.7071067811865491,1.0540739729658683e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,6.169551300892995e-18,6.527984243754636e-17,-2.9721208545362166e-07],"object_linear_velocity_m_s":[-8.249262450194193e-17,9.998627241134751e-18,5.7129521840553e-15],"object_angular_velocity_rad_s":[2.3179440801693903e-16,-1.2238449277757433e-15,-2.0547930655537106e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221291825,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.306591115273734,-1.3102027488896735,-1.570795079362724,-0.4147139967748208,0.0],"actuator_force":[-6.671143637504429e-10,-19.807843877882533,-20.288585100394357,-2.4133468434149563,0.0006237155091639579,-4.831690603168681e-13,-0.2933611130100898],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.120000000000385,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.14000000000041,"qpos":[-1.9855103235697187,-1.582155679415357,1.3167354078238145,-1.3053760552033797,-1.5707963267949185,-0.4147139967748237,0.0029336111697576338,0.00015630155371230338,0.003193479475931988,-0.003429298942212334,0.0029336110761413385,0.00015630111360189064,0.0031978493818846793,-0.0034379968904746584,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999567,4.040267966907121e-18,7.476816975289833e-17,-2.976496040090499e-07],"qvel":[2.997168297078159e-13,5.757803769187219e-14,-9.76406562106584e-14,1.8010661989448814e-12,5.050843622097994e-12,2.2767019447505864e-14,-5.523748292662531e-11,2.622843429297775e-10,-7.200173099263692e-11,-1.0488596763306157e-10,2.0979578571932097e-10,-1.877672471104442e-10,2.210005803744518e-10,-1.7612198756134293e-11,-1.0415273794821089e-16,5.749678169387802e-18,5.420130861310415e-15,-3.6434313084011334e-16,1.0101748585957739e-16,-3.751533237825562e-08],"joint_position_rad":[-1.9855103235697187,-1.582155679415357,1.3167354078238145,-1.3053760552033797,-1.5707963267949185,-0.4147139967748237],"joint_velocity_rad_s":[2.997168297078159e-13,5.757803769187219e-14,-9.76406562106584e-14,1.8010661989448814e-12,5.050843622097994e-12,2.2767019447505864e-14],"linkage_position_rad":[0.0029336111697576338,0.00015630155371230338,0.003193479475931988,-0.003429298942212334,0.0029336110761413385,0.00015630111360189064,0.0031978493818846793,-0.0034379968904746584],"tcp_position_m":[0.0681234861072622,0.48730461895029276,0.43500000000000855],"tcp_quaternion_wxyz":[5.548185110035235e-15,0.7071067811865466,0.7071067811865479,1.5946658333979473e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999567,4.040267966907121e-18,7.476816975289833e-17,-2.976496040090499e-07],"object_linear_velocity_m_s":[-1.0415273794821089e-16,5.749678169387802e-18,5.420130861310415e-15],"object_angular_velocity_rad_s":[-3.6434307631432555e-16,1.0101770305588259e-16,-3.7515332378255694e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221259903,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737346,-1.310202748889674,-1.5707950793627243,-0.41471399677482057,0.0],"actuator_force":[-1.1823431123048067e-10,-19.80784387787571,-20.2885851001206,-2.41334684332719,0.0006237155919279758,-7.105427357601002e-13,-0.2933611130677401],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748203],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.14000000000041,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748203],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.160000000000434,"qpos":[-1.9855103235697182,-1.582155679415357,1.3167354078238147,-1.3053760552033817,-1.5707963267949248,-0.4147139967748237,0.0029336111720802602,0.00015630156314028722,0.0031934794659632323,-0.0034292989417938112,0.0029336110736222385,0.0001563011077198897,0.0031978493872660122,-0.003437996890112985,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,6.8777796881187176e-18,7.012657593473363e-17,-2.980517118949672e-07],"qvel":[-5.879605795304106e-12,1.104856624897e-14,-1.6911163354514447e-12,-1.1188411420458192e-11,-2.6010204038322096e-11,-7.867389631704063e-15,-2.0641321699843964e-09,-1.1854024288168185e-08,1.1116905554145561e-08,1.1688191004877132e-09,1.3873447747677456e-09,7.757606291193823e-09,-7.527951657360514e-09,-6.017761239511602e-10,-1.1894042211437419e-16,2.4673121442394036e-17,5.696298838685921e-15,1.001047077608179e-15,9.726600769752701e-16,-6.849352312137201e-08],"joint_position_rad":[-1.9855103235697182,-1.582155679415357,1.3167354078238147,-1.3053760552033817,-1.5707963267949248,-0.4147139967748237],"joint_velocity_rad_s":[-5.879605795304106e-12,1.104856624897e-14,-1.6911163354514447e-12,-1.1188411420458192e-11,-2.6010204038322096e-11,-7.867389631704063e-15],"linkage_position_rad":[0.0029336111720802602,0.00015630156314028722,0.0031934794659632323,-0.0034292989417938112,0.0029336110736222385,0.0001563011077198897,0.0031978493872660122,-0.003437996890112985],"tcp_position_m":[0.06812348610726374,0.48730461895029276,0.4350000000000087],"tcp_quaternion_wxyz":[8.194588593759324e-15,0.7071067811865464,0.7071067811865481,1.794597641857926e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,6.8777796881187176e-18,7.012657593473363e-17,-2.980517118949672e-07],"object_linear_velocity_m_s":[-1.1894042211437419e-16,2.4673121442394036e-17,5.696298838685921e-15],"object_angular_velocity_rad_s":[1.001047647807571e-15,9.726594811896766e-16,-6.849352312137201e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221293522,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.306591115273734,-1.310202748889674,-1.5707950793627243,-0.4147139967748203,0.0],"actuator_force":[2.353317540837452e-09,-19.807843877857067,-20.288585099484862,-2.4133468420272948,0.0006237187011493006,2.4726887204451486e-12,-0.29336110890118794],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.160000000000434,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.180000000000458,"qpos":[-1.9855103235697145,-1.582155679415357,1.3167354078238163,-1.305376055203372,-1.5707963267949019,-0.4147139967748237,0.0029336111727423235,0.00015630156832735113,0.003193479461307224,-0.003429298942587122,0.0029336110735768066,0.00015630110428641614,0.0031978493909074848,-0.0034379968899673377,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,8.405162266578503e-18,5.3752463517189186e-17,-2.9831152414331406e-07],"qvel":[1.6551512001873214e-12,8.277167838935791e-14,6.33530759569656e-13,2.1788294940478765e-12,4.4037360175094414e-12,1.5485020725488136e-14,8.976234570897881e-10,4.488510377594293e-09,-4.399287352244911e-09,-3.0457122316694666e-10,-7.991078447062518e-10,-2.9034248828246664e-09,2.742776317808112e-09,2.6457741335618946e-10,-6.73760496038535e-17,9.864963913389479e-18,6.2861048205180355e-15,-1.9532512543335263e-16,-2.7598008534088907e-15,-7.4207123252713024e-09],"joint_position_rad":[-1.9855103235697145,-1.582155679415357,1.3167354078238163,-1.305376055203372,-1.5707963267949019,-0.4147139967748237],"joint_velocity_rad_s":[1.6551512001873214e-12,8.277167838935791e-14,6.33530759569656e-13,2.1788294940478765e-12,4.4037360175094414e-12,1.5485020725488136e-14],"linkage_position_rad":[0.0029336111727423235,0.00015630156832735113,0.003193479461307224,-0.003429298942587122,0.0029336110735768066,0.00015630110428641614,0.0031978493909074848,-0.0034379968899673377],"tcp_position_m":[0.06812348610725531,0.4873046189502927,0.43500000000000705],"tcp_quaternion_wxyz":[-4.52730847778517e-16,0.707106781186545,0.7071067811865492,8.429526972992086e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,8.405162266578503e-18,5.3752463517189186e-17,-2.9831152414331406e-07],"object_linear_velocity_m_s":[-6.73760496038535e-17,9.864963913389479e-18,6.2861048205180355e-15],"object_angular_velocity_rad_s":[-1.9532677279187883e-16,-2.759800736748183e-15,-7.420712325271304e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221303837,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737346,-1.310202748889674,-1.5707950793627241,-0.41471399677482107,0.0],"actuator_force":[-6.684786058031023e-10,-19.80784387788617,-20.28858510041664,-2.413346843368913,0.0006237156484303341,-2.2737367544323206e-13,-0.2933611128085346],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.180000000000458,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.200000000000482,"qpos":[-1.985510323569718,-1.582155679415357,1.3167354078238145,-1.305376055203377,-1.5707963267949114,-0.4147139967748237,0.0029336111700508823,0.00015630155598368974,0.003193479473959527,-0.0034292989425681007,0.002933611076031905,0.00015630111212082051,0.00319784938328779,-0.0034379968903190624,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,3.1113407959461063e-18,6.725302678024281e-17,-2.9878587569803134e-07],"qvel":[1.4038970923455671e-12,6.54739640140477e-14,3.9404364163871265e-13,2.9356692094334505e-12,7.0102886827168015e-12,2.2790045950844273e-14,4.2747244744900744e-10,2.755048822777675e-09,-2.53362459020083e-09,-2.838765943835168e-10,-2.4223943103667344e-10,-1.7874318149848605e-09,1.7200459073106156e-09,1.3298987233405167e-10,-8.41097035161692e-17,2.651999617998785e-18,6.495659416416034e-15,-4.598135876187271e-16,-2.179070636084177e-15,-1.354834674269352e-08],"joint_position_rad":[-1.985510323569718,-1.582155679415357,1.3167354078238145,-1.305376055203377,-1.5707963267949114,-0.4147139967748237],"joint_velocity_rad_s":[1.4038970923455671e-12,6.54739640140477e-14,3.9404364163871265e-13,2.9356692094334505e-12,7.0102886827168015e-12,2.2790045950844273e-14],"linkage_position_rad":[0.0029336111700508823,0.00015630155598368974,0.003193479473959527,-0.0034292989425681007,0.002933611076031905,0.00015630111212082051,0.00319784938328779,-0.0034379968903190624],"tcp_position_m":[0.06812348610725996,0.4873046189502929,0.4350000000000087],"tcp_quaternion_wxyz":[2.75298786438872e-15,0.7071067811865461,0.7071067811865481,1.338697495713552e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,3.1113407959461063e-18,6.725302678024281e-17,-2.9878587569803134e-07],"object_linear_velocity_m_s":[-8.41097035161692e-17,2.651999617998785e-18,6.495659416416034e-15],"object_angular_velocity_rad_s":[-4.598148915920364e-16,-2.1790703612278703e-15,-1.3548346742693527e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221265118,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542834,1.306591115273734,-1.3102027488896735,-1.5707950793627237,-0.4147139967748206,0.0],"actuator_force":[-5.611582309938967e-10,-19.807843877878895,-20.28858510031887,-2.4133468434417864,0.0006237153928623229,-7.389644451905042e-13,-0.2933611132303045],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.200000000000482,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.220000000000507,"qpos":[-1.9855103235697213,-1.582155679415357,1.3167354078238134,-1.3053760552033837,-1.5707963267949274,-0.4147139967748237,0.0029336111710438024,0.00015630155771014244,0.003193479471310195,-0.003429298941398258,0.002933611074611725,0.0001563011112253969,0.003197849384018394,-0.0034379968904661986,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,-5.8071408403688495e-18,6.40658471573155e-17,-2.9926245448182104e-07],"qvel":[-2.1102121519673483e-12,3.4141688224905865e-14,-9.596497520429838e-13,-1.960838147935124e-12,-3.1324998831835956e-12,1.5978699471319087e-14,-9.218517690566727e-10,-5.027336495900933e-09,4.874735265166255e-09,4.6325378193363747e-10,8.776652020212706e-10,3.2499107527487772e-09,-2.9665629477455352e-09,-3.7417875333578124e-10,-8.428202610452586e-17,-7.015783449029881e-18,6.601130603755423e-15,-2.0264092866445452e-16,-1.9676345528768913e-15,-2.4735859768493282e-08],"joint_position_rad":[-1.9855103235697213,-1.582155679415357,1.3167354078238134,-1.3053760552033837,-1.5707963267949274,-0.4147139967748237],"joint_velocity_rad_s":[-2.1102121519673483e-12,3.4141688224905865e-14,-9.596497520429838e-13,-1.960838147935124e-12,-3.1324998831835956e-12,1.5978699471319087e-14],"linkage_position_rad":[0.0029336111710438024,0.00015630155771014244,0.003193479471310195,-0.003429298941398258,0.002933611074611725,0.0001563011112253969,0.003197849384018394,-0.0034379968904661986],"tcp_position_m":[0.06812348610726612,0.48730461895029276,0.4350000000000096],"tcp_quaternion_wxyz":[8.830316327692079e-15,0.7071067811865477,0.7071067811865466,1.9843357271232293e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,-5.8071408403688495e-18,6.40658471573155e-17,-2.9926245448182104e-07],"object_linear_velocity_m_s":[-8.428202610452586e-17,-7.015783449029881e-18,6.601130603755423e-15],"object_angular_velocity_rad_s":[-2.026421095121577e-16,-1.967634431878185e-15,-2.4735859768493298e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276733,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737337,-1.3102027488896737,-1.5707950793627241,-0.4147139967748206,0.0],"actuator_force":[8.517417882103473e-10,-19.807843877866162,-20.288585099775446,-2.413346842948954,0.0006237164147933072,-5.684341886080802e-14,-0.2933611120618435],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.5707963267948966,-0.41471399677482035],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.220000000000507,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.24000000000053,"qpos":[-1.9855103235697134,-1.582155679415357,1.3167354078238163,-1.3053760552033709,-1.5707963267948977,-0.4147139967748237,0.0029336111736547633,0.00015630157267557774,0.003193479457064532,-0.0034292989429106522,0.0029336110727269347,0.00015630110147209624,0.003197849393525644,-0.0034379968896651723,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,-3.085733503724093e-18,5.346189515114094e-17,-2.996668687202619e-07],"qvel":[1.4394782692828538e-12,9.041665137502302e-14,5.772772281500587e-13,1.594750255161945e-12,2.9040667732695296e-12,1.687169617454313e-14,1.0232377202147552e-09,4.709006572326488e-09,-4.694162917697546e-09,-2.561089011577623e-10,-9.627620442243097e-10,-3.0451993305221304e-09,2.8760407469865527e-09,2.816305150210525e-10,-8.142950916724475e-17,-3.3849292296327284e-18,6.67468287913684e-15,2.937781631250333e-16,-5.599884617982944e-16,-4.5161433354704336e-08],"joint_position_rad":[-1.9855103235697134,-1.582155679415357,1.3167354078238163,-1.3053760552033709,-1.5707963267948977,-0.4147139967748237],"joint_velocity_rad_s":[1.4394782692828538e-12,9.041665137502302e-14,5.772772281500587e-13,1.594750255161945e-12,2.9040667732695296e-12,1.687169617454313e-14],"linkage_position_rad":[0.0029336111736547633,0.00015630157267557774,0.003193479457064532,-0.0034292989429106522,0.0029336110727269347,0.00015630110147209624,0.003197849393525644,-0.0034379968896651723],"tcp_position_m":[0.06812348610725365,0.48730461895029287,0.43500000000000705],"tcp_quaternion_wxyz":[-2.2795419760350064e-15,0.7071067811865444,0.7071067811865497,7.29578818726576e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,-3.085733503724093e-18,5.346189515114094e-17,-2.996668687202619e-07],"object_linear_velocity_m_s":[-8.142950916724475e-17,-3.3849292296327284e-18,6.67468287913684e-15],"object_angular_velocity_rad_s":[2.9377782267617134e-16,-5.599886381480696e-16,-4.5161433354704376e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221316784,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.3065911152737333,-1.310202748889673,-1.5707950793627241,-0.41471399677482035,0.0],"actuator_force":[-5.843503458891064e-10,-19.807843877888445,-20.288585100397086,-2.413346843310592,0.00062371579633691,-2.842170943040401e-14,-0.2933611126214633],"issued_joint_targets_rad":[-1.985510323569718,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948963,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.24000000000053,"joint_targets_rad":[-1.985510323569718,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948963,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.260000000000556,"qpos":[-1.9855103235697167,-1.582155679415357,1.316735407823815,-1.3053760552033746,-1.5707963267949046,-0.4147139967748237,0.0029336111706691234,0.00015630155969004905,0.0031934794705147556,-0.0034292989429910237,0.002933611075568374,0.00015630110972666308,0.003197849385510479,-0.0034379968900656982,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,-1.5795135558212896e-18,4.065971453189189e-17,-3.0002285124590703e-07],"qvel":[1.820934845631124e-12,7.508410377208025e-14,6.443047754034131e-13,2.9009440090836377e-12,6.3443423164051945e-12,1.91606152188433e-14,7.531828495060388e-10,4.176349772230836e-09,-3.994251435333743e-09,-3.4949719863567494e-10,-5.987626695440362e-10,-2.6942777672422288e-09,2.5503114591136825e-09,2.351802722742578e-10,-5.167675356555832e-17,2.7490856796705426e-18,6.2236547753828705e-15,2.091350150521218e-16,-5.299906996053015e-16,-8.245337262339891e-08],"joint_position_rad":[-1.9855103235697167,-1.582155679415357,1.316735407823815,-1.3053760552033746,-1.5707963267949046,-0.4147139967748237],"joint_velocity_rad_s":[1.820934845631124e-12,7.508410377208025e-14,6.443047754034131e-13,2.9009440090836377e-12,6.3443423164051945e-12,1.91606152188433e-14],"linkage_position_rad":[0.0029336111706691234,0.00015630155969004905,0.0031934794705147556,-0.0034292989429910237,0.002933611075568374,0.00015630110972666308,0.003197849385510479,-0.0034379968900656982],"tcp_position_m":[0.06812348610725741,0.487304618950293,0.435000000000008],"tcp_quaternion_wxyz":[1.791294161217258e-16,0.7071067811865458,0.7071067811865487,1.0577602640065963e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,-1.5795135558212896e-18,4.065971453189189e-17,-3.0002285124590703e-07],"object_linear_velocity_m_s":[-5.167675356555832e-17,2.7490856796705426e-18,6.2236547753828705e-15],"object_angular_velocity_rad_s":[2.091346903283815e-16,-5.299908253562442e-16,-8.245337262339901e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221275402,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.985510323569718,-1.5920596013542838,1.3065911152737348,-1.310202748889674,-1.5707950793627237,-0.4147139967748209,0.0],"actuator_force":[-7.307789928745478e-10,-19.807843877883442,-20.288585100418004,-2.4133468434398537,0.0006237154559585179,-5.115907697472721e-13,-0.2933611130839758],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.260000000000556,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.28000000000058,"qpos":[-1.9855103235697216,-1.582155679415357,1.3167354078238132,-1.3053760552033822,-1.5707963267949216,-0.4147139967748237,0.0029336111707325883,0.0001563015566177339,0.00319347947255142,-0.003429298941410741,0.002933611075084026,0.00015630111191491244,0.0031978493834795615,-0.003437996890598345,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,8.3362549712445e-19,2.6253285550596194e-17,-3.003356165286494e-07],"qvel":[2.070057641477812e-13,4.0514208454372985e-14,-1.6312463887106458e-13,1.9251843496034107e-12,5.551258541821004e-12,2.6686354833364608e-14,-1.8464021690050362e-10,-6.369785093575748e-10,7.176684038878294e-10,5.185951793834267e-11,3.4955636403610946e-10,3.9329193441800826e-10,-2.191249071814654e-10,-1.5314700728687396e-10,-3.3946095530884286e-17,-3.2230558205395646e-19,5.744871096013271e-15,2.3125552638349114e-16,-1.5804297293658597e-15,-8.933147699270695e-09],"joint_position_rad":[-1.9855103235697216,-1.582155679415357,1.3167354078238132,-1.3053760552033822,-1.5707963267949216,-0.4147139967748237],"joint_velocity_rad_s":[2.070057641477812e-13,4.0514208454372985e-14,-1.6312463887106458e-13,1.9251843496034107e-12,5.551258541821004e-12,2.6686354833364608e-14],"linkage_position_rad":[0.0029336111707325883,0.0001563015566177339,0.00319347947255142,-0.003429298941410741,0.002933611075084026,0.00015630111191491244,0.0031978493834795615,-0.003437996890598345],"tcp_position_m":[0.06812348610726475,0.4873046189502929,0.4350000000000096],"tcp_quaternion_wxyz":[6.283146693032779e-15,0.7071067811865477,0.7071067811865464,1.828980920696238e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,8.3362549712445e-19,2.6253285550596194e-17,-3.003356165286494e-07],"object_linear_velocity_m_s":[-3.3946095530884286e-17,-3.2230558205395646e-19,5.744871096013271e-15],"object_angular_velocity_rad_s":[2.312545765957265e-16,-1.5804298682592251e-15,-8.933147699270707e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221271671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542831,1.3065911152737342,-1.310202748889674,-1.570795079362724,-0.41471399677482,0.0],"actuator_force":[-7.457856554538012e-11,-19.807843877868436,-20.28858510009286,-2.4133468433383314,0.0006237155437247566,-8.526512829121202e-13,-0.2933611131154114],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.570796326794897,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.28000000000058,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.570796326794897,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.300000000000605,"qpos":[-1.9855103235697193,-1.582155679415357,1.3167354078238145,-1.3053760552033828,-1.5707963267949256,-0.4147139967748237,0.0029336111712615557,0.00015630155933608672,0.003193479469708365,-0.0034292989418042664,0.002933611074384104,0.00015630111015635744,0.0031978493850546162,-0.003437996890248341,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,-5.297325093216976e-18,4.413595666356305e-17,-3.007865972656227e-07],"qvel":[-6.321975348993384e-12,8.174669880292996e-15,-1.8328053443726013e-12,-1.207737515560965e-11,-2.8090910906632194e-11,-1.0951562102806746e-14,-2.2867463866011993e-09,-1.300047079464487e-08,1.223668254302763e-08,1.1850952332683585e-09,1.5483934270592288e-09,8.464094682730874e-09,-8.219928078662789e-09,-6.080973261618963e-10,-5.598561342090254e-17,-6.350314330933048e-18,5.59915432403122e-15,-1.1211097919447188e-16,-8.587934606286959e-16,-1.6309671798113826e-08],"joint_position_rad":[-1.9855103235697193,-1.582155679415357,1.3167354078238145,-1.3053760552033828,-1.5707963267949256,-0.4147139967748237],"joint_velocity_rad_s":[-6.321975348993384e-12,8.174669880292996e-15,-1.8328053443726013e-12,-1.207737515560965e-11,-2.8090910906632194e-11,-1.0951562102806746e-14],"linkage_position_rad":[0.0029336111712615557,0.00015630155933608672,0.003193479469708365,-0.0034292989418042664,0.002933611074384104,0.00015630111015635744,0.0031978493850546162,-0.003437996890248341],"tcp_position_m":[0.06812348610726457,0.48730461895029287,0.43500000000000916],"tcp_quaternion_wxyz":[8.269939903309972e-15,0.7071067811865466,0.7071067811865477,1.882542237312259e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,-5.297325093216976e-18,4.413595666356305e-17,-3.007865972656227e-07],"object_linear_velocity_m_s":[-5.598561342090254e-17,-6.350314330933048e-18,5.59915432403122e-15],"object_angular_velocity_rad_s":[-1.1211149726126334e-16,-8.587933933583769e-16,-1.6309671798113853e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281876,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.3065911152737333,-1.310202748889673,-1.5707950793627248,-0.41471399677482057,0.0],"actuator_force":[2.5320332497358322e-09,-19.807843877855248,-20.288585099429383,-2.413346841937482,0.0006237189095372742,2.6716406864579767e-12,-0.2933611085905182],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.300000000000605,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.32000000000063,"qpos":[-1.9855103235697156,-1.582155679415357,1.3167354078238152,-1.3053760552033735,-1.5707963267949032,-0.4147139967748237,0.0029336111734190816,0.00015630156975983124,0.003193479459177892,-0.003429298941579725,0.0029336110728499175,0.00015630110349563282,0.003197849391925382,-0.003437996890336581,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999556,-3.5399068270132905e-17,7.039769679968772e-17,-3.012345609502608e-07],"qvel":[1.7825136642963604e-12,7.271738126512943e-14,6.811658605210958e-13,2.3989262585549854e-12,4.891115663833959e-12,1.790770115358745e-14,7.961555779106507e-10,4.117971636192552e-09,-4.039291825021497e-09,-2.763039019062016e-10,-6.890491505627187e-10,-2.6759861223944323e-09,2.5590787024239322e-09,2.112532313885029e-10,-9.75481835590341e-17,-4.9084908679896025e-17,6.506761646662286e-15,-1.4191038214550938e-15,5.386128330137656e-16,-2.9777341998272267e-08],"joint_position_rad":[-1.9855103235697156,-1.582155679415357,1.3167354078238152,-1.3053760552033735,-1.5707963267949032,-0.4147139967748237],"joint_velocity_rad_s":[1.7825136642963604e-12,7.271738126512943e-14,6.811658605210958e-13,2.3989262585549854e-12,4.891115663833959e-12,1.790770115358745e-14],"linkage_position_rad":[0.0029336111734190816,0.00015630156975983124,0.003193479459177892,-0.003429298941579725,0.0029336110728499175,0.00015630110349563282,0.003197849391925382,-0.003437996890336581],"tcp_position_m":[0.06812348610725644,0.487304618950293,0.4350000000000078],"tcp_quaternion_wxyz":[-3.519994484996127e-16,0.7071067811865454,0.7071067811865491,9.856946850047921e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999556,-3.5399068270132905e-17,7.039769679968772e-17,-3.012345609502608e-07],"object_linear_velocity_m_s":[-9.75481835590341e-17,-4.9084908679896025e-17,6.506761646662286e-15],"object_angular_velocity_rad_s":[-1.4191035011497518e-15,5.38613685871723e-16,-2.9777341998272326e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221310407,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.306591115273735,-1.310202748889674,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[-7.166818249970675e-10,-19.807843877882988,-20.288585100432556,-2.4133468433901726,0.0006237156004544886,-2.8421709430404007e-13,-0.2933611128489821],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948966,-0.41471399677482046],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.32000000000063,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.340000000000654,"qpos":[-1.9855103235697191,-1.582155679415357,1.3167354078238138,-1.3053760552033793,-1.5707963267949157,-0.4147139967748237,0.00293361117132449,0.00015630155900943953,0.0031934794696939313,-0.0034292989411075355,0.0029336110746689165,0.00015630111038198902,0.0031978493854486097,-0.003437996890807169,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-5.603419216113857e-17,9.252851105006567e-17,-3.016591970795889e-07],"qvel":[1.4453257602508354e-12,5.174341210062956e-14,3.960142743749272e-13,3.1644493996701823e-12,7.63673460302861e-12,2.4344704466952467e-14,2.6852317246493384e-10,2.0016957843707525e-09,-1.7987921999028696e-09,-2.3468914388016646e-10,-6.999655586646975e-11,-1.3162532945593464e-09,1.326335292479175e-09,5.3076135276612684e-11,-1.577311451818021e-16,-9.760229257118003e-17,3.471689453093265e-15,-2.5741059812412954e-15,3.542424690332943e-15,-5.436590677344891e-08],"joint_position_rad":[-1.9855103235697191,-1.582155679415357,1.3167354078238138,-1.3053760552033793,-1.5707963267949157,-0.4147139967748237],"joint_velocity_rad_s":[1.4453257602508354e-12,5.174341210062956e-14,3.960142743749272e-13,3.1644493996701823e-12,7.63673460302861e-12,2.4344704466952467e-14],"linkage_position_rad":[0.00293361117132449,0.00015630155900943953,0.0031934794696939313,-0.0034292989411075355,0.0029336110746689165,0.00015630111038198902,0.0031978493854486097,-0.003437996890807169],"tcp_position_m":[0.06812348610726178,0.4873046189502932,0.43500000000000894],"tcp_quaternion_wxyz":[4.097463345523286e-15,0.7071067811865469,0.7071067811865478,1.5443571196451043e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-5.603419216113857e-17,9.252851105006567e-17,-3.016591970795889e-07],"object_linear_velocity_m_s":[-1.577311451818021e-16,-9.760229257118003e-17,3.471689453093265e-15],"object_angular_velocity_rad_s":[-2.574103854091646e-15,3.542426237245089e-15,-5.436590677344891e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221278387,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737342,-1.3102027488896735,-1.570795079362724,-0.41471399677482046,0.0],"actuator_force":[-5.752553988713771e-10,-19.807843877873893,-20.288585100317505,-2.4133468434635006,0.0006237153321535516,-8.526512829121202e-13,-0.2933611132923034],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948963,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.340000000000654,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948963,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.360000000000678,"qpos":[-1.9855103235697205,-1.582155679415357,1.3167354078238136,-1.3053760552033848,-1.57079632679493,-0.4147139967748237,0.0029336111701567117,0.00015630155348638836,0.003193479475427239,-0.003429298941408455,0.0029336110754381245,0.00015630111383122146,0.0031978493817243054,-0.0034379968906237232,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-5.0268358385979643e-17,8.753118819150261e-17,-3.01964275139615e-07],"qvel":[-2.246162027428876e-12,2.9466132001191605e-14,-1.0252983667219831e-12,-2.0817678929596347e-12,-3.3050643952006005e-12,1.4790732043685782e-14,-1.0494287021711386e-09,-5.574683030226974e-09,5.473673786461445e-09,4.173386194346817e-10,1.0037889886545764e-09,3.5687791145895162e-09,-3.2867896979400067e-09,-3.659202358034744e-10,-1.9933076628746395e-16,-7.174823633653734e-17,5.82675004407938e-15,8.629767890000066e-16,5.2407468809378905e-15,-9.925841666696867e-08],"joint_position_rad":[-1.9855103235697205,-1.582155679415357,1.3167354078238136,-1.3053760552033848,-1.57079632679493,-0.4147139967748237],"joint_velocity_rad_s":[-2.246162027428876e-12,2.9466132001191605e-14,-1.0252983667219831e-12,-2.0817678929596347e-12,-3.3050643952006005e-12,1.4790732043685782e-14],"linkage_position_rad":[0.0029336111701567117,0.00015630155348638836,0.003193479475427239,-0.003429298941408455,0.0029336110754381245,0.00015630111383122146,0.0031978493817243054,-0.0034379968906237232],"tcp_position_m":[0.06812348610726628,0.4873046189502931,0.4350000000000096],"tcp_quaternion_wxyz":[9.712157249364192e-15,0.7071067811865472,0.7071067811865475,2.094724279782944e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-5.0268358385979643e-17,8.753118819150261e-17,-3.01964275139615e-07],"object_linear_velocity_m_s":[-1.9933076628746395e-16,-7.174823633653734e-17,5.82675004407938e-15],"object_angular_velocity_rad_s":[8.629799366600983e-16,5.240746349781504e-15,-9.92584166669687e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221262874,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737344,-1.310202748889674,-1.5707950793627237,-0.41471399677482085,0.0],"actuator_force":[9.040377335622907e-10,-19.807843877865253,-20.28858509974816,-2.4133468429364484,0.0006237164336653223,-5.684341886080802e-14,-0.29336111205154325],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748217],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.360000000000678,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.380000000000702,"qpos":[-1.9855103235697127,-1.582155679415357,1.316735407823816,-1.3053760552033715,-1.5707963267949003,-0.4147139967748237,0.0029336111742532998,0.00015630157383849096,0.003193479455187668,-0.003429298941893415,0.002933611072088011,0.00015630110079025607,0.0031978493944748764,-0.0034379968900983063,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-3.334429300508134e-17,7.885292484223849e-17,-3.0234078595737363e-07],"qvel":[1.5687601089627287e-12,8.453856666403603e-14,6.310242474283924e-13,1.7847119415102638e-12,3.316715372764414e-12,1.0657930113159688e-14,9.29281861294265e-10,4.4201488696277696e-09,-4.398906652624092e-09,-2.519912147784556e-10,-8.618022101613791e-10,-2.865120372811839e-09,2.7236025347285493e-09,2.46035772265306e-10,-9.747324734689443e-17,-4.284274741458889e-17,6.406841574446024e-15,1.797631923553115e-15,-3.4140823857748456e-15,-1.0753836602072475e-08],"joint_position_rad":[-1.9855103235697127,-1.582155679415357,1.316735407823816,-1.3053760552033715,-1.5707963267949003,-0.4147139967748237],"joint_velocity_rad_s":[1.5687601089627287e-12,8.453856666403603e-14,6.310242474283924e-13,1.7847119415102638e-12,3.316715372764414e-12,1.0657930113159688e-14],"linkage_position_rad":[0.0029336111742532998,0.00015630157383849096,0.003193479455187668,-0.003429298941893415,0.002933611072088011,0.00015630110079025607,0.0031978493944748764,-0.0034379968900983063],"tcp_position_m":[0.06812348610725419,0.48730461895029303,0.4350000000000072],"tcp_quaternion_wxyz":[-1.160697984449677e-15,0.7071067811865445,0.70710678118655,8.133131366642663e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-3.334429300508134e-17,7.885292484223849e-17,-3.0234078595737363e-07],"object_linear_velocity_m_s":[-9.747324734689443e-17,-4.284274741458889e-17,6.406841574446024e-15],"object_angular_velocity_rad_s":[1.7976298574241404e-15,-3.414083473486278e-15,-1.075383660207248e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221322092,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737342,-1.310202748889674,-1.5707950793627243,-0.4147139967748217,0.0],"actuator_force":[-6.375557859428227e-10,-19.80784387788617,-20.288585100416185,-2.413346843329691,0.0006237157563191431,-5.684341886080802e-14,-0.2933611126544638],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.30537605520337,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.380000000000702,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.30537605520337,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.400000000000727,"qpos":[-1.9855103235697162,-1.582155679415357,1.316735407823815,-1.305376055203376,-1.570796326794909,-0.4147139967748237,0.002933611171807746,0.0001563015621404836,0.0031934794668217192,-0.0034292989415113957,0.002933611074354248,0.0001563011083011146,0.003197849387416369,-0.0034379968906276645,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-5.340952907321328e-17,7.352206562684168e-17,-3.028226120501886e-07],"qvel":[1.923205680571305e-12,6.691213581761103e-14,6.726871263043483e-13,3.1531049054169913e-12,6.95502022233016e-12,2.1773052809826538e-14,6.02978007745613e-10,3.5892765273384528e-09,-3.396643132746461e-09,-3.3414204224591994e-10,-4.361174614129089e-10,-2.329847424495953e-09,2.233925025544998e-09,1.7757285797137732e-10,-9.414123838692805e-17,-6.876861799449768e-17,6.580313922043705e-15,5.096231392256398e-16,-2.5005911317952578e-15,-1.963378995342244e-08],"joint_position_rad":[-1.9855103235697162,-1.582155679415357,1.316735407823815,-1.305376055203376,-1.570796326794909,-0.4147139967748237],"joint_velocity_rad_s":[1.923205680571305e-12,6.691213581761103e-14,6.726871263043483e-13,3.1531049054169913e-12,6.95502022233016e-12,2.1773052809826538e-14],"linkage_position_rad":[0.002933611171807746,0.0001563015621404836,0.0031934794668217192,-0.0034292989415113957,0.002933611074354248,0.0001563011083011146,0.003197849387416369,-0.0034379968906276645],"tcp_position_m":[0.06812348610725837,0.48730461895029287,0.43500000000000805],"tcp_quaternion_wxyz":[2.000697896584587e-15,0.7071067811865455,0.7071067811865488,1.2098621892669605e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-5.340952907321328e-17,7.352206562684168e-17,-3.028226120501886e-07],"object_linear_velocity_m_s":[-9.414123838692805e-17,-6.876861799449768e-17,6.580313922043705e-15],"object_angular_velocity_rad_s":[5.096216218674361e-16,-2.5005914425428833e-15,-1.9633789953422454e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221286336,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737344,-1.3102027488896735,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-7.721610018052161e-10,-19.807843877879804,-20.288585100430282,-2.4133468434641827,0.0006237153969550491,-5.968558980384842e-13,-0.29336111314240243],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.400000000000727,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.42000000000075,"qpos":[-1.9855103235697196,-1.582155679415357,1.3167354078238138,-1.3053760552033824,-1.5707963267949252,-0.4147139967748237,0.0029336111697801604,0.000156301552198044,0.0031934794769394917,-0.0034292989415056264,0.002933611075996077,0.00015630111459524165,0.003197849381103094,-0.0034379968907422985,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-4.4776166142403203e-17,6.758307210995143e-17,-3.032406661872212e-07],"qvel":[2.5043106781062487e-13,3.837523288641698e-14,-1.6279180830201605e-13,2.1222897970464265e-12,6.078503216195616e-12,2.4420535383326156e-14,-2.4735776090097134e-10,-7.91011745536321e-10,9.498143231707312e-10,-2.3141002089938744e-11,4.314707229660234e-10,4.764577439480954e-10,-3.20315972332496e-10,-1.312773747453099e-10,-9.818410155361994e-17,-5.861972721554477e-17,6.677458436698407e-15,1.202576256046366e-15,-7.290715241668108e-16,-3.58463423054791e-08],"joint_position_rad":[-1.9855103235697196,-1.582155679415357,1.3167354078238138,-1.3053760552033824,-1.5707963267949252,-0.4147139967748237],"joint_velocity_rad_s":[2.5043106781062487e-13,3.837523288641698e-14,-1.6279180830201605e-13,2.1222897970464265e-12,6.078503216195616e-12,2.4420535383326156e-14],"linkage_position_rad":[0.0029336111697801604,0.000156301552198044,0.0031934794769394917,-0.0034292989415056264,0.002933611075996077,0.00015630111459524165,0.003197849381103094,-0.0034379968907422985],"tcp_position_m":[0.06812348610726453,0.4873046189502928,0.43500000000000916],"tcp_quaternion_wxyz":[8.075348024316366e-15,0.707106781186547,0.7071067811865477,1.858484355072312e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-4.4776166142403203e-17,6.758307210995143e-17,-3.032406661872212e-07],"object_linear_velocity_m_s":[-9.818410155361994e-17,-5.861972721554477e-17,6.677458436698407e-15],"object_angular_velocity_rad_s":[1.2025758090326637e-15,-7.290722567168496e-16,-3.5846342305479136e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221256574,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.306591115273734,-1.3102027488896735,-1.570795079362724,-0.4147139967748206,0.0],"actuator_force":[-9.640643838793039e-11,-19.80784387786798,-20.28858510009468,-2.4133468433578855,0.0006237154926793664,-9.094947017729282e-13,-0.2933611132093767],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.42000000000075,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.440000000000776,"qpos":[-1.985510323569719,-1.582155679415357,1.3167354078238145,-1.3053760552033842,-1.5707963267949305,-0.4147139967748237,0.00293361117163878,0.00015630155905828284,0.0031934794691355355,-0.0034292989407165245,0.002933611073917235,0.00015630111035667532,0.003197849385285351,-0.003437996890748909,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-2.204007336763813e-17,6.999376329373236e-17,-3.0362488501212734e-07],"qvel":[-6.63891928196862e-12,-5.6479208333941485e-15,-1.938448470877375e-12,-1.2722969831823772e-11,-2.9543776085689666e-11,-1.1629355218580443e-14,-2.5186327068569175e-09,-1.4454876288254599e-08,1.3548984035777303e-08,1.2488192827793537e-09,1.7293413248568344e-09,9.371815464806953e-09,-8.982918060149779e-09,-6.708892668555854e-10,-1.3631683643910792e-16,-9.770327338706827e-18,6.744071818175918e-15,3.3285426478600008e-15,3.0415122974264198e-15,-6.544636872096232e-08],"joint_position_rad":[-1.985510323569719,-1.582155679415357,1.3167354078238145,-1.3053760552033842,-1.5707963267949305,-0.4147139967748237],"joint_velocity_rad_s":[-6.63891928196862e-12,-5.6479208333941485e-15,-1.938448470877375e-12,-1.2722969831823772e-11,-2.9543776085689666e-11,-1.1629355218580443e-14],"linkage_position_rad":[0.00293361117163878,0.00015630155905828284,0.0031934794691355355,-0.0034292989407165245,0.002933611073917235,0.00015630111035667532,0.003197849385285351,-0.003437996890748909],"tcp_position_m":[0.06812348610726555,0.48730461895029253,0.43500000000000905],"tcp_quaternion_wxyz":[1.0400878794946426e-14,0.7071067811865462,0.7071067811865478,2.0198253563172225e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-2.204007336763813e-17,6.999376329373236e-17,-3.0362488501212734e-07],"object_linear_velocity_m_s":[-1.3631683643910792e-16,-9.770327338706827e-18,6.744071818175918e-15],"object_angular_velocity_rad_s":[3.328544485655358e-15,3.0415102732842223e-15,-6.544636872096239e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221282521,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737344,-1.3102027488896741,-1.5707950793627243,-0.41471399677482035,0.0],"actuator_force":[2.6579982659313828e-09,-19.807843877850246,-20.288585099384818,-2.4133468418727944,0.00062371905744385,2.8137492336099967e-12,-0.2933611083313439],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.440000000000776,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.4600000000008,"qpos":[-1.985510323569714,-1.582155679415357,1.316735407823816,-1.3053760552033733,-1.5707963267949032,-0.4147139967748237,0.0029336111725224833,0.00015630156614364224,0.0031934794630412303,-0.003429298941931718,0.002933611073761324,0.00015630110568427935,0.003197849389862571,-0.003437996890361216,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,-5.173831848660137e-18,6.463630614466631e-17,-3.039293376599607e-07],"qvel":[1.949344332785029e-12,8.111197894865685e-14,7.444772853000515e-13,2.631671780030335e-12,5.341686200331104e-12,1.6776302970014465e-14,8.293211293813352e-10,4.4224985411199985e-09,-4.2789678690314244e-09,-3.538293241881263e-10,-7.095764961924073e-10,-2.859873516607019e-09,2.699512539942718e-09,2.535047904593063e-10,-1.758819413644434e-16,3.0341298605199605e-17,6.914768608212037e-15,2.7516824580368602e-15,5.657235975962154e-15,-1.194885420180051e-07],"joint_position_rad":[-1.985510323569714,-1.582155679415357,1.316735407823816,-1.3053760552033733,-1.5707963267949032,-0.4147139967748237],"joint_velocity_rad_s":[1.949344332785029e-12,8.111197894865685e-14,7.444772853000515e-13,2.631671780030335e-12,5.341686200331104e-12,1.6776302970014465e-14],"linkage_position_rad":[0.0029336111725224833,0.00015630156614364224,0.0031934794630412303,-0.003429298941931718,0.002933611073761324,0.00015630110568427935,0.003197849389862571,-0.003437996890361216],"tcp_position_m":[0.06812348610725562,0.48730461895029303,0.43500000000000727],"tcp_quaternion_wxyz":[-1.9201458344442134e-16,0.7071067811865448,0.7071067811865497,9.559373241375515e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,-5.173831848660137e-18,6.463630614466631e-17,-3.039293376599607e-07],"object_linear_velocity_m_s":[-1.758819413644434e-16,3.0341298605199605e-17,6.914768608212037e-15],"object_angular_velocity_rad_s":[2.7516858813897255e-15,5.65723430209064e-15,-1.1948854201800527e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221297456,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.306591115273734,-1.3102027488896737,-1.5707950793627241,-0.41471399677482096,0.0],"actuator_force":[-7.871676643844694e-10,-19.80784387788526,-20.288585100462114,-2.4133468434134784,0.000623715555320814,-3.126388037344441e-13,-0.29336111291291356],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.4600000000008,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.480000000000825,"qpos":[-1.985510323569718,-1.582155679415357,1.3167354078238145,-1.305376055203379,-1.5707963267949152,-0.4147139967748237,0.0029336111699368697,0.00015630155386361127,0.003193479475583517,-0.0034292989418370653,0.002933611076057439,0.00015630111345994643,0.0031978493822291797,-0.003437996890675349,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,5.407411932407672e-18,6.445529285796734e-17,-3.0438258616198874e-07],"qvel":[1.5753797656516102e-12,5.070178973799037e-14,4.353952763833569e-13,3.4554041867658255e-12,8.327551288345767e-12,2.3364001658036194e-14,2.890386227155536e-10,2.176420624919251e-09,-1.944157659510961e-09,-2.619567576663758e-10,-6.930205586593246e-11,-1.421436221425209e-09,1.4283743396079956e-09,5.848744200549449e-11,-7.986298389747515e-17,6.6230659346176584e-18,6.871747466007811e-15,-2.2972819571453583e-16,-2.450323287870386e-15,-1.2945605015972818e-08],"joint_position_rad":[-1.985510323569718,-1.582155679415357,1.3167354078238145,-1.305376055203379,-1.5707963267949152,-0.4147139967748237],"joint_velocity_rad_s":[1.5753797656516102e-12,5.070178973799037e-14,4.353952763833569e-13,3.4554041867658255e-12,8.327551288345767e-12,2.3364001658036194e-14],"linkage_position_rad":[0.0029336111699368697,0.00015630155386361127,0.003193479475583517,-0.0034292989418370653,0.002933611076057439,0.00015630111345994643,0.0031978493822291797,-0.003437996890675349],"tcp_position_m":[0.06812348610726106,0.4873046189502929,0.4350000000000086],"tcp_quaternion_wxyz":[4.245651408077291e-15,0.7071067811865461,0.7071067811865483,1.491215618035242e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,5.407411932407672e-18,6.445529285796734e-17,-3.0438258616198874e-07],"object_linear_velocity_m_s":[-7.986298389747515e-17,6.6230659346176584e-18,6.871747466007811e-15],"object_angular_velocity_rad_s":[-2.297296890547977e-16,-2.4503231478794064e-15,-1.2945605015972838e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221259322,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.3065911152737344,-1.3102027488896735,-1.5707950793627237,-0.41471399677482085,0.0],"actuator_force":[-6.298250809777528e-10,-19.807843877873438,-20.28858510033433,-2.413346843492718,0.0006237152629182674,-9.094947017729282e-13,-0.2933611133983982],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.480000000000825,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.50000000000085,"qpos":[-1.9855103235697211,-1.582155679415357,1.3167354078238136,-1.3053760552033866,-1.5707963267949323,-0.4147139967748237,0.002933611170309009,0.00015630155215037657,0.0031934794759711084,-0.0034292989403575205,0.002933611075197546,0.0001563011147417886,0.003197849381265467,-0.003437996891148777,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999545,2.4628123418170887e-18,7.730672303396896e-17,-3.0483796280764977e-07],"qvel":[-2.3170404439635593e-12,1.864127179979268e-14,-1.0721810862218018e-12,-2.118395916347336e-12,-3.3111329883833073e-12,1.5100069509083784e-14,-1.2079431598617054e-09,-6.446313698202927e-09,6.297775572522467e-09,4.2070890258308953e-10,1.1624569438466276e-09,4.1166919008802186e-09,-3.732215349501256e-09,-4.097545972583445e-10,-9.960502514844562e-17,2.836984971677314e-18,6.742684039395138e-15,-3.214150150553986e-16,-1.0889595756355323e-15,-2.3635405586758678e-08],"joint_position_rad":[-1.9855103235697211,-1.582155679415357,1.3167354078238136,-1.3053760552033866,-1.5707963267949323,-0.4147139967748237],"joint_velocity_rad_s":[-2.3170404439635593e-12,1.864127179979268e-14,-1.0721810862218018e-12,-2.118395916347336e-12,-3.3111329883833073e-12,1.5100069509083784e-14],"linkage_position_rad":[0.002933611170309009,0.00015630155215037657,0.0031934794759711084,-0.0034292989403575205,0.002933611075197546,0.0001563011147417886,0.003197849381265467,-0.003437996891148777],"tcp_position_m":[0.06812348610726741,0.4873046189502931,0.4350000000000098],"tcp_quaternion_wxyz":[1.0492797360014424e-14,0.7071067811865476,0.7071067811865467,2.2152923702678937e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999545,2.4628123418170887e-18,7.730672303396896e-17,-3.0483796280764977e-07],"object_linear_velocity_m_s":[-9.960502514844562e-17,2.836984971677314e-18,6.742684039395138e-15],"object_angular_velocity_rad_s":[-3.214156826221282e-16,-1.088959379559915e-15,-2.3635405586758724e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322126035,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737346,-1.3102027488896737,-1.570795079362724,-0.41471399677482085,0.0],"actuator_force":[9.335963113699108e-10,-19.807843877860705,-20.28858509972906,-2.4133468429317873,0.0006237164353706248,-8.526512829121202e-14,-0.29336111204789667],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.4147139967748204],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.50000000000085,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.4147139967748204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.520000000000874,"qpos":[-1.9855103235697122,-1.582155679415357,1.3167354078238171,-1.305376055203371,-1.5707963267948983,-0.4147139967748237,0.0029336111733827205,0.00015630157049911357,0.00319347945884371,-0.003429298942326663,0.002933611072979667,0.0001563011028517945,0.0031978493924830612,-0.003437996890058489,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-4.469268939634287e-18,8.380040696076905e-17,-3.052795610618747e-07],"qvel":[1.7255144260813043e-12,9.023403519477335e-14,6.947065937559321e-13,1.96266836788886e-12,3.625459396132423e-12,1.6996929783386978e-14,9.773481687896266e-10,4.762743986768016e-09,-4.685933273197848e-09,-3.222007773480327e-10,-9.014783446307088e-10,-3.0755674516297513e-09,2.889102438596641e-09,2.8980225674603536e-10,-1.250363161376067e-16,-7.52774038562419e-18,5.837852274325634e-15,-8.886151603778915e-16,2.400870541249494e-16,-4.315228191814348e-08],"joint_position_rad":[-1.9855103235697122,-1.582155679415357,1.3167354078238171,-1.305376055203371,-1.5707963267948983,-0.4147139967748237],"joint_velocity_rad_s":[1.7255144260813043e-12,9.023403519477335e-14,6.947065937559321e-13,1.96266836788886e-12,3.625459396132423e-12,1.6996929783386978e-14],"linkage_position_rad":[0.0029336111733827205,0.00015630157049911357,0.00319347945884371,-0.003429298942326663,0.002933611072979667,0.0001563011028517945,0.0031978493924830612,-0.003437996890058489],"tcp_position_m":[0.06812348610725333,0.48730461895029303,0.43500000000000694],"tcp_quaternion_wxyz":[-1.798389897305039e-15,0.707106781186544,0.7071067811865502,7.083867923465563e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-4.469268939634287e-18,8.380040696076905e-17,-3.052795610618747e-07],"object_linear_velocity_m_s":[-1.250363161376067e-16,-7.52774038562419e-18,5.837852274325634e-15],"object_angular_velocity_rad_s":[-8.886150210227425e-16,2.4008759629128076e-16,-4.3152281918143476e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221310282,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.310202748889674,-1.5707950793627241,-0.4147139967748204,0.0],"actuator_force":[-7.007656677160412e-10,-19.8078438778889,-20.28858510044347,-2.4133468433476537,0.0006237157244868285,-8.526512829121202e-14,-0.29336111269746845],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.520000000000874,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.540000000000898,"qpos":[-1.985510323569716,-1.582155679415357,1.3167354078238154,-1.3053760552033755,-1.5707963267949068,-0.4147139967748237,0.002933611170452512,0.00015630155726792177,0.003193479472481071,-0.0034292989422780866,0.0029336110757262448,0.00015630111124698885,0.00319784938432534,-0.003437996890462827,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-1.7216597100255055e-17,7.081923652461763e-17,-3.0561970656133027e-07],"qvel":[2.103256784962037e-12,6.587858429355663e-14,7.419198600479306e-13,3.442839095852156e-12,7.578258795733327e-12,2.1534781236048774e-14,6.544516491199261e-10,3.9133700395438304e-09,-3.695114119578868e-09,-3.6936452553310534e-10,-4.697227099716114e-10,-2.525367469999183e-09,2.416335017725738e-09,1.9364885223615392e-10,-1.291043594335543e-16,-6.540643239138666e-17,6.22643033294444e-15,-4.175021879497517e-15,9.188792407629245e-16,-7.878516947414464e-08],"joint_position_rad":[-1.985510323569716,-1.582155679415357,1.3167354078238154,-1.3053760552033755,-1.5707963267949068,-0.4147139967748237],"joint_velocity_rad_s":[2.103256784962037e-12,6.587858429355663e-14,7.419198600479306e-13,3.442839095852156e-12,7.578258795733327e-12,2.1534781236048774e-14],"linkage_position_rad":[0.002933611170452512,0.00015630155726792177,0.003193479472481071,-0.0034292989422780866,0.0029336110757262448,0.00015630111124698885,0.00319784938432534,-0.003437996890462827],"tcp_position_m":[0.06812348610725774,0.4873046189502931,0.43500000000000794],"tcp_quaternion_wxyz":[1.06692157616747e-15,0.7071067811865455,0.7071067811865488,1.1511381743517569e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-1.7216597100255055e-17,7.081923652461763e-17,-3.0561970656133027e-07],"object_linear_velocity_m_s":[-1.291043594335543e-16,-6.540643239138666e-17,6.22643033294444e-15],"object_angular_velocity_rad_s":[-4.175021329000542e-15,9.188817899878548e-16,-7.878516947414466e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.093135132212681,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.592059601354284,1.306591115273735,-1.310202748889674,-1.5707950793627237,-0.4147139967748207,0.0],"actuator_force":[-8.440110832452774e-10,-19.80784387788026,-20.288585100457567,-2.413346843493514,0.0006237153336314805,-6.536993168992922e-13,-0.2933611132325825],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.540000000000898,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.560000000000922,"qpos":[-1.9855103235697207,-1.582155679415357,1.3167354078238134,-1.305376055203384,-1.5707963267949252,-0.4147139967748237,0.002933611169815774,0.00015630155037823343,0.0031934794779698724,-0.0034292989404857963,0.002933611075887919,0.00015630111583185688,0.0031978493803648347,-0.0034379968912853407,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-2.4921815412160465e-17,5.375136450054692e-17,-3.05918557475762e-07],"qvel":[3.4209775526543156e-13,3.0557137639357535e-14,-1.4639754368985422e-13,2.3524917049420237e-12,6.643207825019122e-12,2.3877334412585012e-14,-3.614529318438906e-10,-1.2666417928929895e-09,1.438311499998836e-09,-6.545023145114287e-11,5.620418322772956e-10,7.730378233585412e-10,-5.646585009492662e-10,-1.5056587159522072e-10,-6.824192219088018e-17,-2.836554269492758e-17,6.363820432241802e-15,8.212463248447881e-16,-2.661658121284853e-15,-8.535727927579224e-09],"joint_position_rad":[-1.9855103235697207,-1.582155679415357,1.3167354078238134,-1.305376055203384,-1.5707963267949252,-0.4147139967748237],"joint_velocity_rad_s":[3.4209775526543156e-13,3.0557137639357535e-14,-1.4639754368985422e-13,2.3524917049420237e-12,6.643207825019122e-12,2.3877334412585012e-14],"linkage_position_rad":[0.002933611169815774,0.00015630155037823343,0.0031934794779698724,-0.0034292989404857963,0.002933611075887919,0.00015630111583185688,0.0031978493803648347,-0.0034379968912853407],"tcp_position_m":[0.06812348610726511,0.487304618950293,0.4350000000000096],"tcp_quaternion_wxyz":[7.69372986130091e-15,0.7071067811865469,0.7071067811865474,1.9543383129362127e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-2.4921815412160465e-17,5.375136450054692e-17,-3.05918557475762e-07],"object_linear_velocity_m_s":[-6.824192219088018e-17,-2.836554269492758e-17,6.363820432241802e-15],"object_angular_velocity_rad_s":[8.212446954257946e-16,-2.6616586241787893e-15,-8.535727927579226e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221252577,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737337,-1.3102027488896737,-1.570795079362724,-0.41471399677482085,0.0],"actuator_force":[-1.3096723705530167e-10,-19.807843877864798,-20.28858510010059,-2.413346843380168,0.0006237154362906949,-9.663381206337363e-13,-0.29336111328812914],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.560000000000922,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.580000000000947,"qpos":[-1.9855103235697196,-1.582155679415357,1.316735407823815,-1.3053760552033846,-1.5707963267949303,-0.4147139967748237,0.0029336111705080075,0.00015630155435095557,0.0031934794741033004,-0.0034292989410861724,0.0029336110749901578,0.0001563011132670232,0.0031978493824540853,-0.003437996890733968,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-3.9371141848514744e-17,3.483774517590429e-17,-3.0640364590134367e-07],"qvel":[-7.1888145941822996e-12,-1.1646052579264634e-14,-2.1248576798551994e-12,-1.3814776543441164e-11,-3.2071670126648034e-11,-1.50886387067828e-14,-2.76966616237306e-09,-1.580255254747695e-08,1.4849175330461326e-08,1.3139968714189418e-09,1.902988689767183e-09,1.018859444188056e-08,-9.781283778648235e-09,-7.010234122354411e-10,-4.552885501807012e-17,-4.5832317367053135e-17,6.5733750281398e-15,7.917728792865523e-16,-1.9008531776141004e-15,-1.5584083655999667e-08],"joint_position_rad":[-1.9855103235697196,-1.582155679415357,1.316735407823815,-1.3053760552033846,-1.5707963267949303,-0.4147139967748237],"joint_velocity_rad_s":[-7.1888145941822996e-12,-1.1646052579264634e-14,-2.1248576798551994e-12,-1.3814776543441164e-11,-3.2071670126648034e-11,-1.50886387067828e-14],"linkage_position_rad":[0.0029336111705080075,0.00015630155435095557,0.0031934794741033004,-0.0034292989410861724,0.0029336110749901578,0.0001563011132670232,0.0031978493824540853,-0.003437996890733968],"tcp_position_m":[0.06812348610726598,0.4873046189502927,0.43500000000000916],"tcp_quaternion_wxyz":[1.0277762406367493e-14,0.7071067811865467,0.7071067811865476,2.0186159477055805e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-3.9371141848514744e-17,3.483774517590429e-17,-3.0640364590134367e-07],"object_linear_velocity_m_s":[-4.552885501807012e-17,-4.5832317367053135e-17,6.5733750281398e-15],"object_angular_velocity_rad_s":[7.917717133438871e-16,-1.9008536640450644e-15,-1.5584083655999677e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221266834,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737337,-1.3102027488896733,-1.5707950793627243,-0.4147139967748206,0.0],"actuator_force":[2.8790054784622043e-09,-19.807843877847972,-20.288585099312513,-2.413346841762859,0.0006237193101696903,3.0411229090532288e-12,-0.29336110794152087],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748202],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.580000000000947,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748202],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.60000000000097,"qpos":[-1.985510323569714,-1.582155679415357,1.316735407823816,-1.3053760552033724,-1.5707963267949012,-0.4147139967748237,0.002933611171226344,0.00015630156164983378,0.0031934794683267016,-0.0034292989427383183,0.002933611075085465,0.0001563011084349584,0.003197849386922342,-0.0034379968901698224,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-2.4747777924728176e-17,1.59852275231588e-17,-3.0683168048245997e-07],"qvel":[2.1353706993642616e-12,8.346322096344734e-14,8.220486743545393e-13,2.872218164620865e-12,5.8205270263782335e-12,2.0677211247222874e-14,9.013512385239321e-10,4.823810932286717e-09,-4.6599030659049955e-09,-3.8951325092765755e-10,-7.692171845662774e-10,-3.103894904166702e-09,2.925119447548646e-09,2.7732259734887304e-10,-2.272019816785667e-17,-2.956109967267453e-17,6.24585923587538e-15,1.6652100476312622e-15,-1.4640856274953989e-15,-2.8452601284593434e-08],"joint_position_rad":[-1.985510323569714,-1.582155679415357,1.316735407823816,-1.3053760552033724,-1.5707963267949012,-0.4147139967748237],"joint_velocity_rad_s":[2.1353706993642616e-12,8.346322096344734e-14,8.220486743545393e-13,2.872218164620865e-12,5.8205270263782335e-12,2.0677211247222874e-14],"linkage_position_rad":[0.002933611171226344,0.00015630156164983378,0.0031934794683267016,-0.0034292989427383183,0.002933611075085465,0.0001563011084349584,0.003197849386922342,-0.0034379968901698224],"tcp_position_m":[0.06812348610725506,0.487304618950293,0.4350000000000074],"tcp_quaternion_wxyz":[-8.837284464203906e-16,0.7071067811865447,0.7071067811865496,8.645614773474513e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-2.4747777924728176e-17,1.59852275231588e-17,-3.0683168048245997e-07],"object_linear_velocity_m_s":[-2.272019816785667e-17,-2.956109967267453e-17,6.24585923587538e-15],"object_angular_velocity_rad_s":[1.6652091482656002e-15,-1.4640866507817962e-15,-2.845260128459346e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281028,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737346,-1.3102027488896741,-1.5707950793627241,-0.4147139967748202,0.0],"actuator_force":[-8.608367352280766e-10,-19.80784387788617,-20.288585100491673,-2.4133468434380347,0.0006237155064354738,-3.410605131648481e-13,-0.2933611129762607],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.60000000000097,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.620000000000996,"qpos":[-1.9855103235697198,-1.582155679415357,1.3167354078238136,-1.3053760552033804,-1.5707963267949168,-0.4147139967748237,0.0029336111698890135,0.0001563015518423858,0.003193479476848981,-0.003429298940874799,0.002933611076050136,0.0001563011148676512,0.003197849381338398,-0.003437996891208103,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-1.41696226438275e-17,1.1516889234228313e-17,-3.072374253095006e-07],"qvel":[1.7560160473982231e-12,4.838134306562068e-14,4.941612833322105e-13,3.77212464029617e-12,9.030590819363505e-12,2.568782865924562e-14,2.0582518246132891e-10,1.961484869076097e-09,-1.6790071036791626e-09,-3.3411159156261097e-10,3.2576684652136235e-11,-1.292495865158884e-09,1.3130357773994511e-09,6.191319286805699e-11,-1.9222443529837557e-17,-2.0309566029242716e-17,5.8475667257911055e-15,7.253385565042589e-16,2.8735699982268684e-17,-5.194726476897139e-08],"joint_position_rad":[-1.9855103235697198,-1.582155679415357,1.3167354078238136,-1.3053760552033804,-1.5707963267949168,-0.4147139967748237],"joint_velocity_rad_s":[1.7560160473982231e-12,4.838134306562068e-14,4.941612833322105e-13,3.77212464029617e-12,9.030590819363505e-12,2.568782865924562e-14],"linkage_position_rad":[0.0029336111698890135,0.0001563015518423858,0.003193479476848981,-0.003429298940874799,0.002933611076050136,0.0001563011148676512,0.003197849381338398,-0.003437996891208103],"tcp_position_m":[0.0681234861072625,0.48730461895029314,0.4350000000000091],"tcp_quaternion_wxyz":[4.538590851358969e-15,0.7071067811865469,0.7071067811865476,1.6309739496486e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-1.41696226438275e-17,1.1516889234228313e-17,-3.072374253095006e-07],"object_linear_velocity_m_s":[-1.9222443529837557e-17,-2.0309566029242716e-17,5.8475667257911055e-15],"object_angular_velocity_rad_s":[7.253385729649455e-16,2.873525280781622e-17,-5.194726476897145e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.0931351322125484,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542831,1.306591115273734,-1.3102027488896733,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-6.984919309616089e-10,-19.80784387787162,-20.288585100357068,-2.413346843523641,0.0006237151933419227,-9.663381206337363e-13,-0.2933611134889668],"issued_joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.41471399677482096],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.620000000000996,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.64000000000102,"qpos":[-1.9855103235697233,-1.582155679415357,1.3167354078238136,-1.3053760552033873,-1.570796326794934,-0.4147139967748237,0.002933611169042474,0.00015630154681224318,0.003193479481582268,-0.0034292989407329736,0.002933611076403216,0.00015630111805694258,0.003197849378046587,-0.0034379968911407567,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-1.0340078983960645e-17,1.4652997592592248e-17,-3.0758464006987487e-07],"qvel":[-2.4876995541206727e-12,1.4380729181091473e-14,-1.1612770391480035e-12,-2.2899692098957747e-12,-3.5656239244456704e-12,1.4503587495628965e-14,-1.3379611713404142e-09,-7.065679777444433e-09,6.94227976473044e-09,4.1454883237139027e-10,1.2894967757859067e-09,4.486785975977001e-09,-4.085415268431515e-09,-4.23931395258561e-10,-4.1915408194440245e-17,-2.2356658889946127e-17,5.711564405274524e-15,-1.105814314329034e-15,2.8183423845253254e-15,-9.484258714998632e-08],"joint_position_rad":[-1.9855103235697233,-1.582155679415357,1.3167354078238136,-1.3053760552033873,-1.570796326794934,-0.4147139967748237],"joint_velocity_rad_s":[-2.4876995541206727e-12,1.4380729181091473e-14,-1.1612770391480035e-12,-2.2899692098957747e-12,-3.5656239244456704e-12,1.4503587495628965e-14],"linkage_position_rad":[0.002933611169042474,0.00015630154681224318,0.003193479481582268,-0.0034292989407329736,0.002933611076403216,0.00015630111805694258,0.003197849378046587,-0.0034379968911407567],"tcp_position_m":[0.068123486107269,0.4873046189502929,0.43500000000000993],"tcp_quaternion_wxyz":[1.1184211156340673e-14,0.7071067811865486,0.7071067811865459,2.2765832876070993e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-1.0340078983960645e-17,1.4652997592592248e-17,-3.0758464006987487e-07],"object_linear_velocity_m_s":[-4.1915408194440245e-17,-2.2356658889946127e-17,5.711564405274524e-15],"object_angular_velocity_rad_s":[-1.1058125833506276e-15,2.818343062826433e-15,-9.484258714998645e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221242684,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542838,1.3065911152737348,-1.3102027488896741,-1.5707950793627241,-0.41471399677482096,0.0],"actuator_force":[1.006355887511745e-09,-19.80784387785934,-20.288585099693137,-2.413346842914507,0.0006237164614049107,-8.526512829121202e-14,-0.2933611120299625],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.64000000000102,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.660000000001045,"qpos":[-1.9855103235697131,-1.582155679415357,1.3167354078238165,-1.3053760552033704,-1.5707963267948974,-0.4147139967748237,0.0029336111721681604,0.00015630156643415985,0.0031934794637094046,-0.003429298943164999,0.0029336110742293137,0.00015630110536003409,0.0031978493897672046,-0.003437996889829721,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,-1.0446222751876494e-17,1.930463483641714e-17,-3.0794440059442556e-07],"qvel":[1.893625315917034e-12,9.531887265540468e-14,7.634820629266801e-13,2.147308636885984e-12,3.954065094613486e-12,1.6448669452875385e-14,1.062629404241079e-09,5.1930928794412005e-09,-5.1029618185576784e-09,-3.537180553779418e-10,-9.789887336843434e-10,-3.339112302211175e-09,3.131150013137612e-09,3.165786624572635e-10,-2.0703519498798383e-17,-1.2296951298624608e-17,5.558908739388565e-15,3.8111726335236186e-16,-6.474779367347231e-16,-1.0275417635874868e-08],"joint_position_rad":[-1.9855103235697131,-1.582155679415357,1.3167354078238165,-1.3053760552033704,-1.5707963267948974,-0.4147139967748237],"joint_velocity_rad_s":[1.893625315917034e-12,9.531887265540468e-14,7.634820629266801e-13,2.147308636885984e-12,3.954065094613486e-12,1.6448669452875385e-14],"linkage_position_rad":[0.0029336111721681604,0.00015630156643415985,0.0031934794637094046,-0.003429298943164999,0.0029336110742293137,0.00015630110536003409,0.0031978493897672046,-0.003437996889829721],"tcp_position_m":[0.06812348610725354,0.48730461895029287,0.4350000000000068],"tcp_quaternion_wxyz":[-2.2704290751743788e-15,0.7071067811865442,0.7071067811865498,6.9583649168613075e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,-1.0446222751876494e-17,1.930463483641714e-17,-3.0794440059442556e-07],"object_linear_velocity_m_s":[-2.0703519498798383e-17,-1.2296951298624608e-17,5.558908739388565e-15],"object_angular_velocity_rad_s":[3.811168641811535e-16,-6.474781716751342e-16,-1.0275417635874885e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221295378,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.306591115273734,-1.3102027488896735,-1.5707950793627241,-0.41471399677482057,0.0],"actuator_force":[-7.66249286243692e-10,-19.80784387789072,-20.288585100470755,-2.4133468433662983,0.0006237156911765851,-8.526512829121202e-14,-0.293361112738077],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.660000000001045,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.68000000000107,"qpos":[-1.9855103235697185,-1.582155679415357,1.3167354078238143,-1.3053760552033766,-1.5707963267949088,-0.4147139967748237,0.0029336111703512236,0.0001563015552256387,0.003193479473815928,-0.0034292989413936383,0.00293361107578765,0.00015630111267979181,0.0031978493833716894,-0.0034379968909810355,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999534,5.86558172009647e-18,1.903974717299333e-17,-3.084047911057135e-07],"qvel":[2.320418237594762e-12,6.534854947792582e-14,8.230353589007203e-13,3.754230760886812e-12,8.228659788095755e-12,2.2712326214800005e-14,5.935519542202578e-10,3.864070027277303e-09,-3.574475257281505e-09,-4.6001835169463636e-10,-3.931044499831125e-10,-2.5036318229735586e-09,2.3805554446673532e-09,2.155078332312351e-10,-2.1608967898421238e-17,7.605107611613403e-18,5.434008649118234e-15,5.307404907303212e-16,-3.060708358154036e-16,-1.8760317736979607e-08],"joint_position_rad":[-1.9855103235697185,-1.582155679415357,1.3167354078238143,-1.3053760552033766,-1.5707963267949088,-0.4147139967748237],"joint_velocity_rad_s":[2.320418237594762e-12,6.534854947792582e-14,8.230353589007203e-13,3.754230760886812e-12,8.228659788095755e-12,2.2712326214800005e-14],"linkage_position_rad":[0.0029336111703512236,0.0001563015552256387,0.003193479473815928,-0.0034292989413936383,0.00293361107578765,0.00015630111267979181,0.0031978493833716894,-0.0034379968909810355],"tcp_position_m":[0.06812348610725948,0.48730461895029314,0.4350000000000087],"tcp_quaternion_wxyz":[1.3849382594931927e-15,0.7071067811865462,0.707106781186548,1.2855537676761004e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999534,5.86558172009647e-18,1.903974717299333e-17,-3.084047911057135e-07],"object_linear_velocity_m_s":[-2.1608967898421238e-17,7.605107611613403e-18,5.434008649118234e-15],"object_angular_velocity_rad_s":[5.307403012284135e-16,-3.0607116296108575e-16,-1.876031773697964e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221263789,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737348,-1.310202748889674,-1.570795079362724,-0.4147139967748205,0.0],"actuator_force":[-9.267751011066139e-10,-19.80784387787935,-20.288585100488035,-2.4133468435240957,0.000623715269512104,-6.821210263296962e-13,-0.2933611133091812],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.68000000000107,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.700000000001094,"qpos":[-1.9855103235697233,-1.582155679415357,1.316735407823813,-1.3053760552033844,-1.5707963267949272,-0.4147139967748237,0.0029336111684884177,0.00015630154487159448,0.003193479483815999,-0.003429298940898774,0.0029336110771741985,0.00015630111926050503,0.00319784937702765,-0.003437996891271908,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,1.6194621923774158e-17,5.479509651491832e-18,-3.088589414601515e-07],"qvel":[4.0272903356758063e-13,2.671307377177227e-14,-1.4415953008539043e-13,2.5728540722243945e-12,7.248623556714423e-12,2.5351311209383555e-14,-4.152934555407882e-10,-1.4195840736942224e-09,1.648615360043347e-09,-1.1041301551610501e-10,6.368356327409879e-10,8.578901955373541e-10,-6.50481809363291e-10,-1.4645473499944398e-10,-8.608587630819323e-18,2.1791190065120323e-17,5.5533576242654376e-15,3.024800614053151e-16,-1.2143591607783478e-15,-3.425160261746331e-08],"joint_position_rad":[-1.9855103235697233,-1.582155679415357,1.316735407823813,-1.3053760552033844,-1.5707963267949272,-0.4147139967748237],"joint_velocity_rad_s":[4.0272903356758063e-13,2.671307377177227e-14,-1.4415953008539043e-13,2.5728540722243945e-12,7.248623556714423e-12,2.5351311209383555e-14],"linkage_position_rad":[0.0029336111684884177,0.00015630154487159448,0.003193479483815999,-0.003429298940898774,0.0029336110771741985,0.00015630111926050503,0.00319784937702765,-0.003437996891271908],"tcp_position_m":[0.06812348610726712,0.48730461895029287,0.43500000000001016],"tcp_quaternion_wxyz":[8.430947340767319e-15,0.7071067811865482,0.7071067811865458,2.0437609854696918e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,1.6194621923774158e-17,5.479509651491832e-18,-3.088589414601515e-07],"object_linear_velocity_m_s":[-8.608587630819323e-18,2.1791190065120323e-17,5.5533576242654376e-15],"object_angular_velocity_rad_s":[3.024793108985238e-16,-1.2143593465160757e-15,-3.42516026174633e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221234089,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737344,-1.3102027488896735,-1.5707950793627237,-0.41471399677482074,0.0],"actuator_force":[-1.496118784416467e-10,-19.807843877863434,-20.288585100099226,-2.4133468434018823,0.0006237153768324788,-1.0516032489249483e-12,-0.2933611133908417],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.700000000001094,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.720000000001118,"qpos":[-1.9855103235697122,-1.582155679415357,1.3167354078238167,-1.3053760552033686,-1.570796326794895,-0.4147139967748237,0.0029336111732119184,0.0001563015712754163,0.0031934794589503187,-0.0034292989435235235,0.002933611073233248,0.0001563011022535178,0.003197849392640812,-0.0034379968894809004,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,3.53426016225591e-17,-8.239845651737241e-18,-3.0922606707639104e-07],"qvel":[1.5220326913675226e-12,9.976174574294482e-14,6.387997479891998e-13,1.4386096872987274e-12,2.3368931712618823e-12,1.176223350451056e-14,1.1594540055206321e-09,5.21665296862442e-09,-5.2070928084831025e-09,-2.8234311051904645e-10,-1.1141597557135079e-09,-3.3561908500219034e-09,3.151250267120982e-09,3.2167387851435896e-10,2.8185585029024395e-17,9.248132972900628e-17,6.1723069604939635e-15,5.018904903471586e-15,-2.230511667509912e-15,-6.253477677256931e-08],"joint_position_rad":[-1.9855103235697122,-1.582155679415357,1.3167354078238167,-1.3053760552033686,-1.570796326794895,-0.4147139967748237],"joint_velocity_rad_s":[1.5220326913675226e-12,9.976174574294482e-14,6.387997479891998e-13,1.4386096872987274e-12,2.3368931712618823e-12,1.176223350451056e-14],"linkage_position_rad":[0.0029336111732119184,0.0001563015712754163,0.0031934794589503187,-0.0034292989435235235,0.002933611073233248,0.0001563011022535178,0.003197849392640812,-0.0034379968894809004],"tcp_position_m":[0.06812348610725243,0.4873046189502929,0.4350000000000065],"tcp_quaternion_wxyz":[-2.9097242124899265e-15,0.7071067811865445,0.7071067811865502,5.5015058706755455e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,3.53426016225591e-17,-8.239845651737241e-18,-3.0922606707639104e-07],"object_linear_velocity_m_s":[2.8185585029024395e-17,9.248132972900628e-17,6.1723069604939635e-15],"object_angular_velocity_rad_s":[5.018903525036481e-15,-2.2305147670416517e-15,-6.253477677256932e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221310366,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.4147139967748211,0.0],"actuator_force":[-6.193658919073641e-10,-19.807843877892537,-20.288585100420732,-2.413346843296381,0.0006237158517024,1.1368683772161603e-13,-0.29336111254872954],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.720000000001118,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.740000000001142,"qpos":[-1.9855103235697167,-1.582155679415357,1.3167354078238147,-1.3053760552033733,-1.5707963267949019,-0.4147139967748237,0.0029336111710789575,0.00015630155964517481,0.003193479469711825,-0.003429298941946318,0.002933611075204846,0.00015630110984475565,0.0031978493859827956,-0.0034379968906470626,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,4.7763450116530366e-17,-1.58654358175745e-17,-3.0951697517018106e-07],"qvel":[2.3553118258860868e-12,8.551221039637182e-14,9.096702903852398e-13,3.146862486873526e-12,6.346613062627427e-12,1.4921621818942052e-14,8.584651555784567e-10,4.879342377334818e-09,-4.63401021532632e-09,-4.92226134073142e-10,-7.138507474089097e-10,-3.150411932611462e-09,2.9382988389975827e-09,3.1286559237920856e-10,8.154313409394547e-17,1.645101835116768e-16,6.340228192968518e-15,8.15372796813702e-15,-5.118022405529068e-15,-1.1417271038878127e-07],"joint_position_rad":[-1.9855103235697167,-1.582155679415357,1.3167354078238147,-1.3053760552033733,-1.5707963267949019,-0.4147139967748237],"joint_velocity_rad_s":[2.3553118258860868e-12,8.551221039637182e-14,9.096702903852398e-13,3.146862486873526e-12,6.346613062627427e-12,1.4921621818942052e-14],"linkage_position_rad":[0.0029336111710789575,0.00015630155964517481,0.003193479469711825,-0.003429298941946318,0.002933611075204846,0.00015630110984475565,0.0031978493859827956,-0.0034379968906470626],"tcp_position_m":[0.06812348610725673,0.4873046189502932,0.43500000000000794],"tcp_quaternion_wxyz":[-1.0138656184153763e-15,0.7071067811865459,0.7071067811865486,9.842166079256461e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,4.7763450116530366e-17,-1.58654358175745e-17,-3.0951697517018106e-07],"object_linear_velocity_m_s":[8.154313409394547e-17,1.645101835116768e-16,6.340228192968518e-15],"object_angular_velocity_rad_s":[8.153724803528633e-15,-5.11802744205596e-15,-1.141727103887813e-07],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221276397,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.4147139967748214,0.0],"actuator_force":[-9.440555004402995e-10,-19.807843877886626,-20.28858510052487,-2.4133468434649785,0.0006237154541395284,-3.694822225952521e-13,-0.2933611130372622],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948963,-0.41471399677482074],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.740000000001142,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948963,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.760000000001167,"qpos":[-1.9855103235697216,-1.582155679415357,1.3167354078238132,-1.3053760552033804,-1.570796326794917,-0.4147139967748237,0.002933611168547323,0.00015630154642523318,0.0031934794826714782,-0.003429298941356374,0.0029336110773751046,0.00015630111823286465,0.0031978493780407337,-0.0034379968911747087,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,5.865935699798001e-17,-2.812345298983822e-17,-3.099500594566092e-07],"qvel":[1.936313945358795e-12,4.7428999255410653e-14,5.50965293940471e-13,4.116716876529425e-12,9.837477250496067e-12,2.5453115926688722e-14,2.0308787757419668e-10,2.100990817240972e-09,-1.7531474242883752e-09,-3.9889942792162013e-10,5.976100250097306e-11,-1.3845795845907477e-09,1.385928789958657e-09,8.179994553705489e-11,3.1847498540939605e-17,7.093019402715047e-17,6.565048355455112e-15,-1.887834233287944e-15,5.916107527404689e-16,-1.2369678191182368e-08],"joint_position_rad":[-1.9855103235697216,-1.582155679415357,1.3167354078238132,-1.3053760552033804,-1.570796326794917,-0.4147139967748237],"joint_velocity_rad_s":[1.936313945358795e-12,4.7428999255410653e-14,5.50965293940471e-13,4.116716876529425e-12,9.837477250496067e-12,2.5453115926688722e-14],"linkage_position_rad":[0.002933611168547323,0.00015630154642523318,0.0031934794826714782,-0.003429298941356374,0.0029336110773751046,0.00015630111823286465,0.0031978493780407337,-0.0034379968911747087],"tcp_position_m":[0.0681234861072634,0.487304618950293,0.4350000000000094],"tcp_quaternion_wxyz":[4.381284321875358e-15,0.7071067811865478,0.7071067811865465,1.6577473761201657e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,5.865935699798001e-17,-2.812345298983822e-17,-3.099500594566092e-07],"object_linear_velocity_m_s":[3.1847498540939605e-17,7.093019402715047e-17,6.565048355455112e-15],"object_angular_velocity_rad_s":[-1.88783386585225e-15,5.916119244602158e-16,-1.2369678191182376e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221236401,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542834,1.306591115273734,-1.3102027488896735,-1.5707950793627234,-0.41471399677482074,0.0],"actuator_force":[-7.66249286243692e-10,-19.80784387787162,-20.288585100378896,-2.4133468435582017,0.0006237151129653284,-1.0800249583553523e-12,-0.29336111361036576],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.760000000001167,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.78000000000119,"qpos":[-1.9855103235697174,-1.582155679415357,1.3167354078238154,-1.3053760552033786,-1.5707963267949172,-0.4147139967748237,0.002933611171457889,0.0001563015619415166,0.0031934794678647313,-0.0034292989426877502,0.0029336110744032163,0.00015630110839504632,0.003197849386479023,-0.0034379968898731105,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,7.947623637613012e-17,-5.094861904682362e-17,-3.1038517720936414e-07],"qvel":[-4.885292494628799e-12,3.745178032047848e-14,-1.338142319908391e-12,-9.673497084895813e-12,-2.280917413540896e-11,-7.560078798934921e-15,-1.6469843721717745e-09,-8.992521604662348e-09,8.496317835811796e-09,9.158872610928885e-10,1.0600083522700554e-09,5.919370290505155e-09,-5.916006446304335e-09,-4.215414173436457e-10,6.559232346082403e-17,1.0363279565119192e-16,6.664968427671377e-15,-6.534455917184931e-16,-1.196601179349077e-16,-2.2583908644313154e-08],"joint_position_rad":[-1.9855103235697174,-1.582155679415357,1.3167354078238154,-1.3053760552033786,-1.5707963267949172,-0.4147139967748237],"joint_velocity_rad_s":[-4.885292494628799e-12,3.745178032047848e-14,-1.338142319908391e-12,-9.673497084895813e-12,-2.280917413540896e-11,-7.560078798934921e-15],"linkage_position_rad":[0.002933611171457889,0.0001563015619415166,0.0031934794678647313,-0.0034292989426877502,0.0029336110744032163,0.00015630110839504632,0.003197849386479023,-0.0034379968898731105],"tcp_position_m":[0.06812348610726111,0.48730461895029276,0.43500000000000827],"tcp_quaternion_wxyz":[5.272399140397903e-15,0.7071067811865459,0.7071067811865483,1.4723237737358616e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,7.947623637613012e-17,-5.094861904682362e-17,-3.1038517720936414e-07],"object_linear_velocity_m_s":[6.559232346082403e-17,1.0363279565119192e-16,6.664968427671377e-15],"object_angular_velocity_rad_s":[-6.534456636985825e-16,-1.1965970870546578e-16,-2.2583908644313173e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221286983,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737342,-1.3102027488896737,-1.5707950793627241,-0.4147139967748207,0.0],"actuator_force":[1.95359461940825e-09,-19.80784387786798,-20.2885850996272,-2.4133468421802036,0.0006237183773691868,2.2737367544323206e-12,-0.29336110935817516],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.78000000000119,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.800000000001216,"qpos":[-1.9855103235697147,-1.582155679415357,1.3167354078238156,-1.3053760552033713,-1.5707963267948968,-0.4147139967748237,0.0029336111719894396,0.00015630156451986075,0.0031934794650871116,-0.003429298942477533,0.0029336110743891836,0.0001563011066920056,0.0031978493888624717,-0.003437996890269674,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,1.0466335247906576e-16,-6.627987695917053e-17,-3.1080712954668716e-07],"qvel":[2.0931588014242274e-12,9.684143864410244e-14,8.504815889344193e-13,2.3693510071741693e-12,4.347724912106937e-12,1.586307972417222e-14,1.033885253162083e-09,5.312221038596317e-09,-5.136575696543234e-09,-4.62127869889452e-10,-9.409791761877302e-10,-3.4252432301743765e-09,3.172739697816646e-09,3.618479105703504e-10,1.0015341581833272e-16,1.6312636158053636e-16,6.748235154518265e-15,2.173403235155524e-15,-1.0463327403097359e-15,-4.1232514037290936e-08],"joint_position_rad":[-1.9855103235697147,-1.582155679415357,1.3167354078238156,-1.3053760552033713,-1.5707963267948968,-0.4147139967748237],"joint_velocity_rad_s":[2.0931588014242274e-12,9.684143864410244e-14,8.504815889344193e-13,2.3693510071741693e-12,4.347724912106937e-12,1.586307972417222e-14],"linkage_position_rad":[0.0029336111719894396,0.00015630156451986075,0.0031934794650871116,-0.003429298942477533,0.0029336110743891836,0.0001563011066920056,0.0031978493888624717,-0.003437996890269674],"tcp_position_m":[0.06812348610725426,0.4873046189502931,0.4350000000000075],"tcp_quaternion_wxyz":[-2.7279903319364625e-15,0.707106781186545,0.7071067811865492,7.448438287082745e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,1.0466335247906576e-16,-6.627987695917053e-17,-3.1080712954668716e-07],"object_linear_velocity_m_s":[1.0015341581833272e-16,1.6312636158053636e-16,6.748235154518265e-15],"object_angular_velocity_rad_s":[2.17340259020553e-15,-1.046334082696912e-15,-4.123251403729098e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221290765,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737344,-1.3102027488896737,-1.5707950793627243,-0.4147139967748207,0.0],"actuator_force":[-8.42646841192618e-10,-19.807843877891628,-20.288585100502587,-2.413346843388126,0.0006237156513861919,-8.526512829121202e-14,-0.2933611127834615],"issued_joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.4147139967748205],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.800000000001216,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.82000000000124,"qpos":[-1.9855103235697176,-1.582155679415357,1.316735407823815,-1.3053760552033769,-1.5707963267949088,-0.4147139967748237,0.002933611172275451,0.00015630156511397262,0.0031934794642390686,-0.0034292989419097116,0.0029336110738244626,0.00015630110647420212,0.003197849388712382,-0.003437996890230089,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,1.0248196257977527e-16,-7.033591769118771e-17,-3.1118736602534947e-07],"qvel":[1.1195044505488713e-12,6.1058467979249e-14,3.0179441287356034e-13,2.3925795831018157e-12,5.758053093111392e-12,2.221037541228735e-14,4.2630097547993197e-10,2.444883300210498e-09,-2.3483081839761438e-09,-1.420328329913645e-10,-2.790491509736515e-10,-1.5909783340345416e-09,1.5745686758792362e-09,7.397666006288052e-11,1.4423064532348586e-16,1.7963762380919753e-16,6.853706341857657e-15,2.154541512329175e-15,-3.7868416330065614e-15,-7.5280158125488e-08],"joint_position_rad":[-1.9855103235697176,-1.582155679415357,1.316735407823815,-1.3053760552033769,-1.5707963267949088,-0.4147139967748237],"joint_velocity_rad_s":[1.1195044505488713e-12,6.1058467979249e-14,3.0179441287356034e-13,2.3925795831018157e-12,5.758053093111392e-12,2.221037541228735e-14],"linkage_position_rad":[0.002933611172275451,0.00015630156511397262,0.0031934794642390686,-0.0034292989419097116,0.0029336110738244626,0.00015630110647420212,0.003197849388712382,-0.003437996890230089],"tcp_position_m":[0.06812348610725906,0.48730461895029303,0.43500000000000805],"tcp_quaternion_wxyz":[1.6647638272907844e-15,0.7071067811865461,0.7071067811865481,1.2409773222500106e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,1.0248196257977527e-16,-7.033591769118771e-17,-3.1118736602534947e-07],"object_linear_velocity_m_s":[1.4423064532348586e-16,1.7963762380919753e-16,6.853706341857657e-15],"object_angular_velocity_rad_s":[2.1545391660840174e-15,-3.786842958508317e-15,-7.52801581254881e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221296538,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542838,1.3065911152737348,-1.3102027488896741,-1.5707950793627241,-0.4147139967748205,0.0],"actuator_force":[-4.474713932722807e-10,-19.807843877877986,-20.28858510028067,-2.4133468433880125,0.0006237155164399155,-6.252776074688882e-13,-0.2933611130412548],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.82000000000124,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.840000000001265,"qpos":[-1.985510323569719,-1.582155679415357,1.3167354078238145,-1.3053760552033813,-1.5707963267949205,-0.4147139967748237,0.002933611171599038,0.00015630156014010037,0.0031934794684632234,-0.003429298941179763,0.002933611074178772,0.00015630110971512912,0.0031978493859007176,-0.0034379968906440403,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,8.111288292950279e-17,-6.264787837742822e-17,-3.114729215968425e-07],"qvel":[-1.6375989175629954e-12,5.799309630722946e-14,-7.346166213408013e-13,-1.6481683571320885e-12,-2.857032129900766e-12,1.5199515689660977e-14,-6.880733826906355e-10,-3.3996636602985187e-09,3.3835749812544264e-09,2.404102677877095e-10,6.473673283757335e-10,2.202181990839578e-09,-2.094448091521076e-09,-1.961281271148557e-10,7.510241054387536e-17,9.907421830147019e-17,5.814260035052353e-15,-3.891978051628112e-15,2.5814341991866326e-15,-8.155988651076808e-09],"joint_position_rad":[-1.985510323569719,-1.582155679415357,1.3167354078238145,-1.3053760552033813,-1.5707963267949205,-0.4147139967748237],"joint_velocity_rad_s":[-1.6375989175629954e-12,5.799309630722946e-14,-7.346166213408013e-13,-1.6481683571320885e-12,-2.857032129900766e-12,1.5199515689660977e-14],"linkage_position_rad":[0.002933611171599038,0.00015630156014010037,0.0031934794684632234,-0.003429298941179763,0.002933611074178772,0.00015630110971512912,0.0031978493859007176,-0.0034379968906440403],"tcp_position_m":[0.06812348610726289,0.48730461895029287,0.4350000000000088],"tcp_quaternion_wxyz":[6.1697294234414785e-15,0.7071067811865462,0.7071067811865478,1.7039230384990844e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,8.111288292950279e-17,-6.264787837742822e-17,-3.114729215968425e-07],"object_linear_velocity_m_s":[7.510241054387536e-17,9.907421830147019e-17,5.814260035052353e-15],"object_angular_velocity_rad_s":[-3.891976442511748e-15,2.5814366250007958e-15,-8.155988651076821e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221284228,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542831,1.3065911152737337,-1.3102027488896735,-1.5707950793627243,-0.41471399677482057,0.0],"actuator_force":[6.575646693818271e-10,-19.807843877875257,-20.28858509986776,-2.413346842981241,0.0006237163837568005,5.684341886080802e-14,-0.29336111208536025],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.41471399677482124],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.840000000001265,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.86000000000129,"qpos":[-1.985510323569712,-1.582155679415357,1.3167354078238165,-1.3053760552033697,-1.5707963267948941,-0.4147139967748237,0.0029336111731544643,0.00015630156977234356,0.003193479459772137,-0.003429298942804355,0.0029336110732750592,0.000156301103261976,0.0031978493921913306,-0.003437996889948785,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,5.690636663725225e-17,-4.823914144789986e-17,-3.1193642930554394e-07],"qvel":[1.692136153869824e-12,1.0603653963392602e-13,7.153929154779563e-13,1.6261148927773534e-12,2.6289287722257048e-12,1.121848325809618e-14,1.1237653950509882e-09,5.334358841339082e-09,-5.21383003729202e-09,-4.102111922992942e-10,-1.0707775751536769e-09,-3.4356965587185157e-09,3.162645619326499e-09,3.793977646172536e-10,6.053198861163674e-17,7.417533365759581e-17,5.478417570103242e-15,-2.8546412824228845e-15,2.0351640352321075e-15,-1.4890775633213421e-08],"joint_position_rad":[-1.985510323569712,-1.582155679415357,1.3167354078238165,-1.3053760552033697,-1.5707963267948941,-0.4147139967748237],"joint_velocity_rad_s":[1.692136153869824e-12,1.0603653963392602e-13,7.153929154779563e-13,1.6261148927773534e-12,2.6289287722257048e-12,1.121848325809618e-14],"linkage_position_rad":[0.0029336111731544643,0.00015630156977234356,0.003193479459772137,-0.003429298942804355,0.0029336110732750592,0.000156301103261976,0.0031978493921913306,-0.003437996889948785],"tcp_position_m":[0.06812348610725213,0.4873046189502931,0.4350000000000068],"tcp_quaternion_wxyz":[-3.708765036023649e-15,0.7071067811865438,0.7071067811865502,6.088609732202149e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999523,5.690636663725225e-17,-4.823914144789986e-17,-3.1193642930554394e-07],"object_linear_velocity_m_s":[6.053198861163674e-17,7.417533365759581e-17,5.478417570103242e-15],"object_angular_velocity_rad_s":[-2.854640011302093e-15,2.035165817859692e-15,-1.4890775633213448e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221306523,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542836,1.306591115273734,-1.3102027488896735,-1.5707950793627241,-0.41471399677482124,0.0],"actuator_force":[-6.880327418912202e-10,-19.807843877895266,-20.2885851004512,-2.413346843314457,0.0006237158221438222,1.1368683772161603e-13,-0.2933611125864153],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.86000000000129,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.880000000001314,"qpos":[-1.9855103235697151,-1.582155679415357,1.3167354078238156,-1.3053760552033742,-1.5707963267949043,-0.4147139967748237,0.002933611172874265,0.00015630156834547444,0.003193479461121546,-0.0034292989421749404,0.0029336110733512643,0.00015630110429000718,0.003197849390840469,-0.003437996890076709,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999523,5.0971812817395837e-17,-3.5941749390402464e-17,-3.123996393011611e-07],"qvel":[1.465637820518311e-12,7.132781101328907e-14,5.04185811296417e-13,2.364923715785847e-12,5.2112401196147505e-12,2.030993790272117e-14,6.930113254143956e-10,3.5969232298530527e-09,-3.5322861224089854e-09,-2.0182616422130062e-10,-5.698713841502317e-10,-2.3293542201873744e-09,2.25319969295839e-09,1.591558523455152e-10,4.871526916515656e-17,7.065554791537577e-17,5.3951508432563555e-15,-1.2600200980909417e-15,1.4857238170271831e-15,-2.7186795917066142e-08],"joint_position_rad":[-1.9855103235697151,-1.582155679415357,1.3167354078238156,-1.3053760552033742,-1.5707963267949043,-0.4147139967748237],"joint_velocity_rad_s":[1.465637820518311e-12,7.132781101328907e-14,5.04185811296417e-13,2.364923715785847e-12,5.2112401196147505e-12,2.030993790272117e-14],"linkage_position_rad":[0.002933611172874265,0.00015630156834547444,0.003193479461121546,-0.0034292989421749404,0.0029336110733512643,0.00015630110429000718,0.003197849390840469,-0.003437996890076709],"tcp_position_m":[0.06812348610725656,0.48730461895029314,0.43500000000000766],"tcp_quaternion_wxyz":[2.455399529394966e-16,0.7071067811865452,0.7071067811865492,1.0264959326090327e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,5.097181281739578e-17,-3.5941749390402427e-17,-3.1239963930116074e-07],"object_linear_velocity_m_s":[4.871526916515656e-17,7.065554791537577e-17,5.3951508432563555e-15],"object_angular_velocity_rad_s":[-1.2600191678572438e-15,1.4857246070580614e-15,-2.718679591706614e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221304778,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542834,1.3065911152737342,-1.310202748889674,-1.5707950793627241,-0.41471399677482046,0.0],"actuator_force":[-5.911715561524034e-10,-19.80784387788117,-20.288585100364344,-2.413346843386421,0.0006237155689632345,-4.263256414560601e-13,-0.2933611129269762],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238167,-1.3053760552033697,-1.5707963267948968,-0.41471399677482046],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.880000000001314,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238167,-1.3053760552033697,-1.5707963267948968,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.900000000001338,"qpos":[-1.985510323569718,-1.582155679415357,1.3167354078238147,-1.3053760552033795,-1.5707963267949165,-0.4147139967748237,0.0029336111714428335,0.0001563015599255026,0.003193479468886752,-0.0034292989413397686,0.0029336110744712348,0.00015630110975216593,0.0031978493858975023,-0.0034379968906686,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999512,4.283856628038173e-17,-1.645919382768936e-17,-3.127873332661808e-07],"qvel":[2.577158198559708e-13,5.744318155187671e-14,-9.614082729041393e-14,1.6170984402834983e-12,4.522491565554692e-12,2.2314403219862875e-14,-3.983288752883604e-11,2.5360354193526213e-10,-1.0291880822383844e-10,-8.122958989671768e-11,1.7663948071614605e-10,-1.7936894045732035e-10,2.1949529192109872e-10,-2.102565180686066e-11,1.858415155453926e-17,6.543620513821685e-17,6.118183588043487e-15,-3.3091080645711493e-16,1.864200583118124e-15,-4.963622382351956e-08],"joint_position_rad":[-1.985510323569718,-1.582155679415357,1.3167354078238147,-1.3053760552033795,-1.5707963267949165,-0.4147139967748237],"joint_velocity_rad_s":[2.577158198559708e-13,5.744318155187671e-14,-9.614082729041393e-14,1.6170984402834983e-12,4.522491565554692e-12,2.2314403219862875e-14],"linkage_position_rad":[0.0029336111714428335,0.0001563015599255026,0.003193479468886752,-0.0034292989413397686,0.0029336110744712348,0.00015630110975216593,0.0031978493858975023,-0.0034379968906686],"tcp_position_m":[0.06812348610726149,0.4873046189502931,0.4350000000000087],"tcp_quaternion_wxyz":[4.706496699779371e-15,0.7071067811865465,0.7071067811865482,1.548402377451702e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,4.283856628038173e-17,-1.645919382768936e-17,-3.127873332661808e-07],"object_linear_velocity_m_s":[1.858415155453926e-17,6.543620513821685e-17,6.118183588043487e-15],"object_angular_velocity_rad_s":[-3.309096386264463e-16,1.8642007943798655e-15,-4.9636223823519574e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221281557,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542836,1.3065911152737337,-1.3102027488896733,-1.5707950793627241,-0.41471399677482046,0.0],"actuator_force":[-1.0277290130034089e-10,-19.807843877876167,-20.288585100123328,-2.4133468433085454,0.0006237156438828606,-6.536993168992922e-13,-0.2933611129797364],"issued_joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.900000000001338,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.920000000001362,"qpos":[-1.9855103235697162,-1.582155679415357,1.3167354078238156,-1.3053760552033795,-1.5707963267949192,-0.4147139967748237,0.002933611171192948,0.00015630155940430217,0.0031934794697005774,-0.0034292989420277166,0.0029336110746062856,0.00015630110997238763,0.0031978493854778515,-0.003437996890342391,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999512,3.221196148931678e-17,2.438369750429217e-18,-3.131191010625684e-07],"qvel":[-5.172104614765802e-12,3.665697860778146e-14,-1.4294814945996047e-12,-1.0304644514249141e-11,-2.430286570126236e-11,-1.2944782458853375e-14,-1.8586372692113386e-09,-9.992021630816304e-09,9.488838296003895e-09,8.691406579492488e-10,1.2223634645280254e-09,6.516302485443283e-09,-6.504852712644766e-09,-4.0329417776030434e-10,-5.773802415579752e-17,5.874586840447565e-17,6.33328929906461e-15,-1.0037012977165136e-16,6.0328771159349675e-15,-9.06232099941126e-08],"joint_position_rad":[-1.9855103235697162,-1.582155679415357,1.3167354078238156,-1.3053760552033795,-1.5707963267949192,-0.4147139967748237],"joint_velocity_rad_s":[-5.172104614765802e-12,3.665697860778146e-14,-1.4294814945996047e-12,-1.0304644514249141e-11,-2.430286570126236e-11,-1.2944782458853375e-14],"linkage_position_rad":[0.002933611171192948,0.00015630155940430217,0.0031934794697005774,-0.0034292989420277166,0.0029336110746062856,0.00015630110997238763,0.0031978493854778515,-0.003437996890342391],"tcp_position_m":[0.06812348610726109,0.48730461895029276,0.43500000000000816],"tcp_quaternion_wxyz":[6.047677013835994e-15,0.7071067811865454,0.7071067811865487,1.5387493308334197e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,3.221196148931678e-17,2.438369750429217e-18,-3.131191010625684e-07],"object_linear_velocity_m_s":[-5.773802415579752e-17,5.874586840447565e-17,6.33328929906461e-15],"object_angular_velocity_rad_s":[-1.0036635219545695e-16,6.032877184627699e-15,-9.062320999411264e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221279693,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542834,1.306591115273734,-1.3102027488896737,-1.5707950793627243,-0.4147139967748214,0.0],"actuator_force":[2.0659172150772065e-09,-19.80784387786707,-20.288585099591728,-2.4133468421166526,0.0006237185276631863,2.4442670110147446e-12,-0.29336110910859264],"issued_joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.920000000001362,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.940000000001387,"qpos":[-1.9855103235697127,-1.582155679415357,1.3167354078238165,-1.3053760552033715,-1.570796326794901,-0.4147139967748237,0.002933611173637162,0.00015630157214499172,0.003193479457402643,-0.0034292989424476576,0.002933611072677475,0.0001563011018177903,0.003197849393175155,-0.0034379968898563926,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999512,2.3989457911145163e-17,2.0978440562210898e-17,-3.1346285648451194e-07],"qvel":[1.4576550426337566e-12,7.645357895685022e-14,5.538461496185971e-13,1.9346465663482127e-12,3.9329466855860485e-12,1.6044237641326732e-14,8.701098918220763e-10,4.1659995110536515e-09,-4.158855928362429e-09,-1.9860763583310993e-10,-7.840120462558468e-10,-2.6942099873329163e-09,2.5877648004060494e-09,2.0686674546228553e-10,-2.1466110083189747e-17,2.9445894236955926e-17,6.44847493786947e-15,-1.1268072840726287e-15,-1.5396946665637256e-16,-9.818282674219908e-09],"joint_position_rad":[-1.9855103235697127,-1.582155679415357,1.3167354078238165,-1.3053760552033715,-1.570796326794901,-0.4147139967748237],"joint_velocity_rad_s":[1.4576550426337566e-12,7.645357895685022e-14,5.538461496185971e-13,1.9346465663482127e-12,3.9329466855860485e-12,1.6044237641326732e-14],"linkage_position_rad":[0.002933611173637162,0.00015630157214499172,0.003193479457402643,-0.0034292989424476576,0.002933611072677475,0.0001563011018177903,0.003197849393175155,-0.0034379968898563926],"tcp_position_m":[0.06812348610725434,0.4873046189502929,0.43500000000000716],"tcp_quaternion_wxyz":[-8.347686668622012e-16,0.7071067811865442,0.70710678118655,8.158511456370918e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,2.3989457911145163e-17,2.0978440562210898e-17,-3.1346285648451194e-07],"object_linear_velocity_m_s":[-2.1466110083189747e-17,2.9445894236955926e-17,6.44847493786947e-15],"object_angular_velocity_rad_s":[-1.1268073810117699e-15,-1.5396875976081177e-16,-9.818282674219915e-09],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221315929,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697178,-1.5920596013542838,1.3065911152737346,-1.310202748889674,-1.5707950793627241,-0.4147139967748209,0.0],"actuator_force":[-5.929905455559492e-10,-19.807843877883897,-20.288585100385262,-2.413346843344698,0.0006237156951556244,-1.9895196601282805e-13,-0.2933611127462211],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748208],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.940000000001387,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.96000000000141,"qpos":[-1.9855103235697162,-1.582155679415357,1.3167354078238156,-1.3053760552033766,-1.570796326794911,-0.4147139967748237,0.0029336111717127634,0.00015630156197605423,0.003193479467098388,-0.0034292989416441367,0.002933611074365221,0.00015630110840917638,0.0031978493871654724,-0.0034379968905387938,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999512,3.5299844891403595e-17,2.7707369781782665e-17,-3.139585223466798e-07],"qvel":[1.2455715211464006e-12,6.494253178978745e-14,3.4266985722394435e-13,2.6288566629376047e-12,6.291008690890683e-12,2.1081433284669048e-14,3.925843786921246e-10,2.487403432052739e-09,-2.306631072042006e-09,-2.4350241356611114e-10,-2.2847146678050826e-10,-1.620187743209106e-09,1.5698463818265741e-09,1.1592041998501248e-10,-3.377375109461974e-17,4.309040626433218e-17,7.109057637521437e-15,-5.918701134748703e-16,-7.644916098864742e-16,-1.7925704737955462e-08],"joint_position_rad":[-1.9855103235697162,-1.582155679415357,1.3167354078238156,-1.3053760552033766,-1.570796326794911,-0.4147139967748237],"joint_velocity_rad_s":[1.2455715211464006e-12,6.494253178978745e-14,3.4266985722394435e-13,2.6288566629376047e-12,6.291008690890683e-12,2.1081433284669048e-14],"linkage_position_rad":[0.0029336111717127634,0.00015630156197605423,0.003193479467098388,-0.0034292989416441367,0.002933611074365221,0.00015630110840917638,0.0031978493871654724,-0.0034379968905387938],"tcp_position_m":[0.0681234861072589,0.4873046189502929,0.4350000000000078],"tcp_quaternion_wxyz":[2.7617979155651423e-15,0.7071067811865454,0.7071067811865487,1.2559172683790939e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,3.5299844891403595e-17,2.7707369781782665e-17,-3.139585223466798e-07],"object_linear_velocity_m_s":[-3.377375109461974e-17,4.309040626433218e-17,7.109057637521437e-15],"object_angular_velocity_rad_s":[-5.918705945054144e-16,-7.644912369754421e-16,-1.7925704737955478e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221286288,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.5920596013542834,1.306591115273734,-1.3102027488896737,-1.5707950793627241,-0.4147139967748208,0.0],"actuator_force":[-5.011315806768835e-10,-19.80784387787844,-20.288585100300224,-2.413346843411432,0.000623715464257657,-6.536993168992922e-13,-0.2933611131244638],"issued_joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.96000000000141,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.980000000001436,"qpos":[-1.9855103235697178,-1.582155679415357,1.3167354078238152,-1.3053760552033813,-1.5707963267949228,-0.4147139967748237,0.002933611170303384,0.00015630155522254843,0.0031934794739658604,-0.003429298941849732,0.0029336110754500325,0.0001563011126615267,0.0031978493828717027,-0.0034379968905288837,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999512,5.408404951557294e-17,1.0642324743041571e-17,-3.1439246836371627e-07],"qvel":[-1.780216843200532e-12,5.271864665847667e-14,-7.991117161034748e-13,-1.7964415230951113e-12,-3.0869538415148137e-12,1.3421227055000085e-14,-7.626471774314244e-10,-3.735440057922687e-09,3.739241570491159e-09,2.456331320959818e-10,7.183031247852572e-10,2.4027586033991172e-09,-2.299544813870536e-09,-2.059531725210303e-10,-1.4408739026152662e-17,7.734008107497604e-17,5.990507940211591e-15,7.102389404228257e-16,-1.5439175267089213e-15,-3.2727810047286044e-08],"joint_position_rad":[-1.9855103235697178,-1.582155679415357,1.3167354078238152,-1.3053760552033813,-1.5707963267949228,-0.4147139967748237],"joint_velocity_rad_s":[-1.780216843200532e-12,5.271864665847667e-14,-7.991117161034748e-13,-1.7964415230951113e-12,-3.0869538415148137e-12,1.3421227055000085e-14],"linkage_position_rad":[0.002933611170303384,0.00015630155522254843,0.0031934794739658604,-0.003429298941849732,0.0029336110754500325,0.0001563011126615267,0.0031978493828717027,-0.0034379968905288837],"tcp_position_m":[0.06812348610726297,0.4873046189502927,0.4350000000000087],"tcp_quaternion_wxyz":[7.461538650975142e-15,0.7071067811865461,0.7071067811865481,1.7101904173332565e-14],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,5.408404951557294e-17,1.0642324743041571e-17,-3.1439246836371627e-07],"object_linear_velocity_m_s":[-1.4408739026152662e-17,7.734008107497604e-17,5.990507940211591e-15],"object_angular_velocity_rad_s":[7.102379689340029e-16,-1.54391796975606e-15,-3.272781004728608e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221266576,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697176,-1.592059601354284,1.3065911152737348,-1.310202748889674,-1.570795079362724,-0.4147139967748209,0.0],"actuator_force":[7.121343514882028e-10,-19.807843877874802,-20.28858509984093,-2.413346842966689,0.0006237164080857838,5.684341886080802e-14,-0.29336111206595056],"issued_joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.41471399677482085],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.980000000001436,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":20.00000000000146,"qpos":[-1.9855103235697111,-1.582155679415357,1.3167354078238171,-1.3053760552033704,-1.5707963267948988,-0.4147139967748237,0.0029336111745126097,0.00015630157615121977,0.0031934794534143702,-0.003429298942680469,0.002933611071856826,0.0001563010992209731,0.0031978493956412177,-0.00343799688960862,-0.13444194834219045,0.4789461432144415,0.2998922445797836,0.9999999999999512,7.7484784791269e-17,-2.3117572099762113e-18,-3.147980032619668e-07],"qvel":[1.2600862549739226e-12,8.21689492883549e-14,5.037813687293672e-13,1.4012547326334511e-12,2.5758810286363024e-12,1.4515279591272518e-14,9.810398999408164e-10,4.352666053172785e-09,-4.411241923865088e-09,-1.5764540815563272e-10,-9.290785129675625e-10,-2.8151949461498324e-09,2.7016255455465027e-09,2.2222823844247335e-10,1.1768351216527158e-17,1.494938382596637e-16,5.7573611050403076e-15,4.870812004137512e-15,-1.1532712615385159e-15,-5.975271634496944e-08],"joint_position_rad":[-1.9855103235697111,-1.582155679415357,1.3167354078238171,-1.3053760552033704,-1.5707963267948988,-0.4147139967748237],"joint_velocity_rad_s":[1.2600862549739226e-12,8.21689492883549e-14,5.037813687293672e-13,1.4012547326334511e-12,2.5758810286363024e-12,1.4515279591272518e-14],"linkage_position_rad":[0.0029336111745126097,0.00015630157615121977,0.0031934794534143702,-0.003429298942680469,0.002933611071856826,0.0001563010992209731,0.0031978493956412177,-0.00343799688960862],"tcp_position_m":[0.06812348610725277,0.4873046189502929,0.4350000000000064],"tcp_quaternion_wxyz":[-1.5631733121177055e-15,0.707106781186544,0.7071067811865507,6.737034468585251e-15],"object_position_m":[-0.13444194834219045,0.4789461432144415,0.2998922445797836],"object_quaternion_wxyz":[0.9999999999999512,7.7484784791269e-17,-2.3117572099762113e-18,-3.147980032619668e-07],"object_linear_velocity_m_s":[1.1768351216527158e-17,1.494938382596637e-16,5.7573611050403076e-15],"object_angular_velocity_rad_s":[4.870811278317843e-15,-1.1532743189222226e-15,-5.975271634496951e-08],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"pad_center_separation_m":0.09313513221327949,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.9855103235697174,-1.5920596013542836,1.3065911152737342,-1.3102027488896735,-1.5707950793627246,-0.41471399677482085,0.0],"actuator_force":[-5.165929906070232e-10,-19.807843877885716,-20.288585100367527,-2.41334684329172,0.0006237158294197798,-2.842170943040401e-14,-0.29336111257827874],"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":[-1.570650239472625,-1.576508036224432,1.5311245400001046,-1.5256139203547907,-1.5707831832438681,0.00014575078052606828],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.02000000000000001,"joint_targets_rad":[-1.5706502836720375,-1.5766785105812011,1.5298876194303523,-1.5242062574080686,-1.5707831773583245,0.00014573734925516974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.04000000000000003,"joint_targets_rad":[-1.5706452679127998,-1.5769240354219927,1.5262715641532512,-1.5203449812288319,-1.57078308858285,0.0001507712060351261],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.060000000000000046,"joint_targets_rad":[-1.5706325521545357,-1.5772540378622,1.522293570940394,-1.5160377153258844,-1.5707829516314908,0.00016348539134371598],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.08000000000000006,"joint_targets_rad":[-1.5706163364098753,-1.5775656957401478,1.5182763758606515,-1.511709734569871,-1.570782800521539,0.00017969168483305902],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.10000000000000007,"joint_targets_rad":[-1.5705999283198842,-1.577859785201214,1.5142395220492713,-1.5073796585990478,-1.5707826499502415,0.0001960907189236038],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.12000000000000009,"joint_targets_rad":[-1.5705835136762416,-1.578136267218703,1.5101841472095316,-1.5030486572561066,-1.5707825005409943,0.0002124971277037457],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.1400000000000001,"joint_targets_rad":[-1.5705671041840557,-1.5783951263574443,1.5061102490979204,-1.4987167451615873,-1.5707823521079962,0.00022889916170303168],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.16000000000000011,"joint_targets_rad":[-1.570550699965277,-1.5786363460578938,1.5020177456669905,-1.494383858647597,-1.5707822044356268,0.00024529662967101963],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.18000000000000013,"joint_targets_rad":[-1.5705343004307553,-1.578859908134534,1.4979065473042457,-1.4900499279827004,-1.5707820573271178,0.0002616900555234298],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.20000000000000015,"joint_targets_rad":[-1.5705179049979663,-1.579065792722021,1.4937765615655665,-1.4857148821397232,-1.570781910605071,0.00027807996213322333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.22000000000000017,"joint_targets_rad":[-1.570501513133841,-1.5792539782558728,1.4896276934256205,-1.481378649077654,-1.5707817641091704,0.00029446682818575355],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.24000000000000019,"joint_targets_rad":[-1.5704851243530904,-1.5794244414483012,1.4854598452218009,-1.4770411557227803,-1.570781617694021,0.000310851089449187],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.2600000000000002,"joint_targets_rad":[-1.5704687382138725,-1.5795771572568702,1.4812729165725338,-1.472702327930286,-1.5707814712272576,0.00032723314271340307],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.2800000000000002,"joint_targets_rad":[-1.5704523543136095,-1.5797120988456808,1.4770668042884314,-1.4683620904450545,-1.5707813245878985,0.0003436133496015995],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.3000000000000002,"joint_targets_rad":[-1.5704359722851595,-1.57982923753883,1.4728414022769876,-1.4640203668627372,-1.5707811776649072,0.000359992040052455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.32000000000000023,"joint_targets_rad":[-1.5704195917932913,-1.5799285427657808,1.4685966014401963,-1.459677079590927,-1.5707810303559304,0.0003763695155244841],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.34000000000000025,"joint_targets_rad":[-1.5704032125314384,-1.5800099819981632,1.4643322895642696,-1.4553321498101794,-1.570780882566187,0.00039274605194147664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.36000000000000026,"joint_targets_rad":[-1.570386834218684,-1.580073520677414,1.4600483512005356,-1.4509854974346446,-1.5707807342074873,0.0004091219024289693],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.3800000000000003,"joint_targets_rad":[-1.570370456597097,-1.5801191221325166,1.4557446675364307,-1.446637041072032,-1.570780585197361,0.0004254972997305708],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.4000000000000003,"joint_targets_rad":[-1.5703540794291861,-1.5801467474868778,1.4514211162552746,-1.4422866979826312,-1.570780435458281,0.00044187245851293254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.4200000000000003,"joint_targets_rad":[-1.570337702495575,-1.5801563555532214,1.4470775713833524,-1.437934384037093,-1.5707802849169654,0.0004582475774798367],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.44000000000000034,"joint_targets_rad":[-1.5703213255928876,-1.5801479027151348,1.4427139031225618,-1.4335800136726602,-1.5707801335037506,0.00047462284128783807],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.46000000000000035,"joint_targets_rad":[-1.5703049485317166,-1.5801213427935568,1.4383299776665035,-1.4292234998474755,-1.570779981152019,0.0004909984223964723],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.48000000000000037,"joint_targets_rad":[-1.570288571134734,-1.580076626896207,1.4339256569975822,-1.4248647539926007,-1.5707798277976754,0.0005073744827957499],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5000000000000003,"joint_targets_rad":[-1.570272193235058,-1.5800137032475265,1.4295007986621855,-1.4205036859612794,-1.5707796733786668,0.000523751175488054],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5200000000000004,"joint_targets_rad":[-1.5702558146745609,-1.5799325169960774,1.4250552555203355,-1.416140203974946,-1.5707795178345276,0.0005401286460422275],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5400000000000004,"joint_targets_rad":[-1.570239435302392,-1.579833009995838,1.4205888754656293,-1.4117742145653922,-1.570779361105953,0.0005565070339453535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5600000000000004,"joint_targets_rad":[-1.5702230549735707,-1.5797151205569075,1.4161015011102205,-1.4074056225123872,-1.5707792031343915,0.0005728864739013714],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.5800000000000004,"joint_targets_rad":[-1.5702066735476818,-1.579578783160178,1.4115929694285423,-1.4030343307759212,-1.570779043861642,0.000589267097023299],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6000000000000004,"joint_targets_rad":[-1.5701902906875471,-1.579423945404448,1.40706317515772,-1.3986602867392763,-1.5707788832384826,0.0006056492319070209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6200000000000004,"joint_targets_rad":[-1.5701739062556772,-1.579250557235146,1.402512037964548,-1.3942834602703364,-1.5707787212188389,0.0006220330089031661],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6400000000000005,"joint_targets_rad":[-1.570157520560549,-1.5790585364514593,1.3979393752189895,-1.3899037514271444,-1.5707785577406912,0.0006384181136913495],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6600000000000005,"joint_targets_rad":[-1.5701411335107769,-1.5788477954426356,1.3933449945730434,-1.3855210559760323,-1.5707783927391985,0.0006548046314345727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.6800000000000005,"joint_targets_rad":[-1.5701247449961224,-1.5786182400962054,1.3887286946843054,-1.381135267192885,-1.5707782261477026,0.0006711926666890569],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7000000000000005,"joint_targets_rad":[-1.570108354910848,-1.5783697690236942,1.384090264511353,-1.3767462759354165,-1.5707780578972603,0.0006875823200621923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7200000000000005,"joint_targets_rad":[-1.5700919631556904,-1.5781022726251916,1.379429482232247,-1.3723539705013992,-1.5707778879159835,0.0007039736861901016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7400000000000005,"joint_targets_rad":[-1.5700755696394058,-1.577815631959471,1.3747461139284671,-1.3679582364473573,-1.5707777161282745,0.000720366852149488],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7600000000000006,"joint_targets_rad":[-1.570059174280727,-1.5775097173657924,1.3700399119858173,-1.3635589563732147,-1.570777542453919,0.0007367618954629727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.7800000000000006,"joint_targets_rad":[-1.5700427770116885,-1.5771843867656214,1.365310613132059,-1.3591560096646846,-1.5707773668069953,0.000753158880743963],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8000000000000006,"joint_targets_rad":[-1.570026377782814,-1.576839483546175,1.3605579360004016,-1.3547492721809593,-1.5707771890945394,0.0007695578544787097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8200000000000006,"joint_targets_rad":[-1.5700099765712439,-1.5764748338900332,1.3557815780654259,-1.350338615870518,-1.5707770092148665,0.0007859588368932327],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8400000000000006,"joint_targets_rad":[-1.5699935733923829,-1.5760902433592394,1.3509812117350612,-1.3459239082909324,-1.5707768270554356,0.000802361810287493],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8600000000000007,"joint_targets_rad":[-1.5699771683186552,-1.5756854924593258,1.3461564792885679,-1.341505011998165,-1.5707766424900693,0.0008187667003035808],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.8800000000000007,"joint_targets_rad":[-1.5699607615073792,-1.5752603307795734,1.3413069862050133,-1.337081783754987,-1.5707764553752572,0.0008351733480766308],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9000000000000007,"joint_targets_rad":[-1.5699443532444728,-1.5748144691035917,1.3364322921987484,-1.3326540734831376,-1.5707762655451416,0.0008515814665936449],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9200000000000007,"joint_targets_rad":[-1.5699279440132978,-1.5743475685541892,1.3315318989065812,-1.3282217228433784,-1.5707760728045495,0.0008679905719684736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9400000000000007,"joint_targets_rad":[-1.56991153460609,-1.5738592252821166,1.3266052325470807,-1.3237845632598075,-1.570775876919048,0.0008843998722191826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9600000000000007,"joint_targets_rad":[-1.5698959147657536,-1.5733658044262597,1.3219079497989261,-1.3195806376792485,-1.5707757832148976,0.00090002141478625],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":0.9800000000000008,"joint_targets_rad":[-1.5698939545209096,-1.573163767411997,1.3216506129155736,-1.3195036153936106,-1.5707775287230614,0.0009020141507133831],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0000000000000007,"joint_targets_rad":[-1.5698921452412586,-1.572992400867238,1.3214308453956904,-1.319435253737959,-1.5707791579581623,0.0009038525991576581],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0199999999999985,"joint_targets_rad":[-1.5698904859377545,-1.572850181532747,1.3212470099663036,-1.319375416745575,-1.5707806578013224,0.0009055386395984653],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0399999999999963,"joint_targets_rad":[-1.569888970314802,-1.572732247584331,1.3210933413107744,-1.3193230550864403,-1.5707820357193987,0.0009070788686638619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.059999999999994,"joint_targets_rad":[-1.5698875871173652,-1.572634355436052,1.3209647665285638,-1.3192772101533787,-1.5707833000026206,0.0009084847307058269],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0799999999999919,"joint_targets_rad":[-1.5698863253955277,-1.5725529930033373,1.3208570497325878,-1.3192370381682867,-1.570784458728903,0.0009097673334791742],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.0999999999999897,"joint_targets_rad":[-1.5698851750061398,-1.5724852715505675,1.3207666767956017,-1.3192018020783645,-1.5707855196318472,0.0009109369599604342],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1199999999999875,"joint_targets_rad":[-1.5698841265966643,-1.5724288161767064,1.3206907349422785,-1.3191708602957777,-1.5707864900662742,0.0009120030888306989],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1399999999999852,"joint_targets_rad":[-1.569905806501069,-1.5842918905514398,1.3979524820973417,-1.3841889173182573,-1.5708216441218013,0.0008903856004600803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.159999999999983,"joint_targets_rad":[-1.5699518104121315,-1.5843631938178484,1.396598441741641,-1.3827690683671685,-1.5708211939115004,0.0008444956680569099],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1799999999999808,"joint_targets_rad":[-1.569944779138908,-1.584473365572929,1.39731370457576,-1.3833846517619195,-1.5708202388052623,0.0008515108240775387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.1999999999999786,"joint_targets_rad":[-1.5699253029363234,-1.5849654773113295,1.4011251751029954,-1.3867092711590234,-1.5708197167160294,0.0008709487644691117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2199999999999764,"joint_targets_rad":[-1.5699121459581848,-1.5857343298343243,1.4062264553387802,-1.3910411451896865,-1.5708196814186424,0.0008840857253750548],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2399999999999742,"joint_targets_rad":[-1.5699091985118967,-1.5864804584428367,1.4113632879859441,-1.3954310452239866,-1.570819665485895,0.0008870394708097929],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.259999999999972,"joint_targets_rad":[-1.5699070152476897,-1.5872082894804769,1.4164835680213952,-1.3998228486422601,-1.5708196361401376,0.0008892297691848904],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2799999999999698,"joint_targets_rad":[-1.5699048634605968,-1.5879178986338527,1.4215821898483045,-1.404211390954051,-1.5708195918684533,0.0008913874187454897],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.2999999999999676,"joint_targets_rad":[-1.5699026867878292,-1.5886093551554512,1.426658987199247,-1.4085964203429817,-1.5708195339853173,0.0008935688497604417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3199999999999654,"joint_targets_rad":[-1.5699004881046348,-1.5892827162845227,1.4317141827624258,-1.4129780849727533,-1.570819463929147,0.00089577138485546],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3399999999999632,"joint_targets_rad":[-1.5698982745751293,-1.589938035106109,1.436748020109503,-1.4173565595870654,-1.5708193830312347,0.0008979880346346997],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.359999999999961,"joint_targets_rad":[-1.569896053105992,-1.59057536120637,1.4417607331143578,-1.4217320143234615,-1.570819292503302,0.000900212037094787],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3799999999999588,"joint_targets_rad":[-1.5698938300267546,-1.591194740858737,1.4467525442987572,-1.426104612728955,-1.5708191934444233,0.0009024371816535868],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.3999999999999566,"joint_targets_rad":[-1.5698916111215506,-1.5917962171630284,1.4517236655198293,-1.430474512163108,-1.5708190868494996,0.0009046577818181918],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4199999999999544,"joint_targets_rad":[-1.5698894016846068,-1.5923798301763448,1.4566742987741703,-1.434841864339337,-1.5708189736175917,0.0009068686234103824],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4399999999999522,"joint_targets_rad":[-1.5698872065726317,-1.592945617037669,1.461604636939042,-1.4392068158228446,-1.5708188545599002,0.0009090649152547332],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.45999999999995,"joint_targets_rad":[-1.5698850302524003,-1.5934936120854228,1.466514864442228,-1.4435695084762574,-1.570818730407306,0.0009112422441431092],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4799999999999478,"joint_targets_rad":[-1.5698828768438935,-1.5940238469673653,1.4714051578658762,-1.447930079857705,-1.5708186018174488,0.0009133965337974278],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.4999999999999456,"joint_targets_rad":[-1.569880750159468,-1.5945363507424977,1.4762756864903293,-1.4522886635765844,-1.570818469381323,0.0009155240074436798],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5199999999999434,"joint_targets_rad":[-1.5698786537394793,-1.59503114997485,1.481126612783537,-1.4566453896117513,-1.570818333629388,0.0009176211536280067],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5399999999999412,"joint_targets_rad":[-1.56987659088475,-1.595508268819173,1.485958092841166,-1.461000384596341,-1.5708181950372135,0.0009196846949392957],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.559999999999939,"joint_targets_rad":[-1.5698745646862526,-1.595967729098663,1.4907702767820585,-1.4653537720729488,-1.57081805403066,0.0009217115593149047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5799999999999368,"joint_targets_rad":[-1.5698725780523133,-1.5964095503748992,1.4955633091032174,-1.4697056727224542,-1.5708179109906333,0.0009236988536471734],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.5999999999999346,"joint_targets_rad":[-1.56987063373364,-1.5968337500102128,1.5003373289981232,-1.4740562045694388,-1.570817766257425,0.0009256438394352612],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6199999999999324,"joint_targets_rad":[-1.5698687343464446,-1.5972403432227025,1.505092470641758,-1.4784054831667797,-1.570817620134672,0.000927543910219431],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6399999999999302,"joint_targets_rad":[-1.5698668823938977,-1.5976293431340873,1.5098288634453512,-1.482753621761711,-1.5708174728929551,0.0009293965705853656],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.659999999999928,"joint_targets_rad":[-1.5698650802861671,-1.5980007608105922,1.514546632283535,-1.4871007314454165,-1.570817324773071,0.0009311994165147058],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6799999999999258,"joint_targets_rad":[-1.5698633303592366,-1.5983546052969673,1.5192458976962508,-1.4914469212879287,-1.5708171759889986,0.0009329501168776928],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.6999999999999236,"joint_targets_rad":[-1.5698616348927223,-1.5986908836437395,1.523926776067482,-1.495792298459976,-1.5708170267305825,0.0009346463958833527],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7199999999999214,"joint_targets_rad":[-1.5698599961268815,-1.5990096009276933,1.5285893797825791,-1.5001369683431922,-1.570816877165964,0.0009362860162853109],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7399999999999192,"joint_targets_rad":[-1.5698584162790064,-1.5993107602655197,1.5332338173656708,-1.5044810346299387,-1.5708167274437754,0.000937866763174452],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.759999999999917,"joint_targets_rad":[-1.5698568975593903,-1.5995943628204836,1.5378601935984473,-1.5088245994139131,-1.5708165776951202,0.0009393864281575228],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7799999999999148,"joint_targets_rad":[-1.569855442187062,-1.5998604078018637,1.5424686096212743,-1.513167763272497,-1.57081642803536,0.0009408427937502541],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.7999999999999126,"joint_targets_rad":[-1.5698540524054752,-1.6001088924567992,1.54705916301744,-1.5175106253417974,-1.5708162785657243,0.0009422336178007773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8199999999999104,"joint_targets_rad":[-1.5698527304983694,-1.6003398120540562,1.5516319478810034,-1.521853283385138,-1.5708161293747598,0.0009435566177085082],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8399999999999082,"joint_targets_rad":[-1.56985147880601,-1.6005531598590639,1.5561870548685228,-1.5261958338557524,-1.5708159805396325,0.0009448094542670801],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.859999999999906,"joint_targets_rad":[-1.569850299742052,-1.600748927099406,1.5607245712346387,-1.5305383719543173,-1.570815832127302,0.0009459897148649658],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8799999999999037,"joint_targets_rad":[-1.5698491958112843,-1.6009271029197267,1.5652445808512048,-1.5348809916819066,-1.5708156841955703,0.0009470948957995793],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.8999999999999015,"joint_targets_rad":[-1.5698481696285576,-1.601087674324753,1.5697471642093335,-1.5392237858889193,-1.570815536794027,0.0009481223834005014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9199999999998993,"joint_targets_rad":[-1.5698472239392323,-1.601230626108843,1.5742323984033566,-1.5435668463204495,-1.5708153899648931,0.0009490694336350416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9399999999998971,"joint_targets_rad":[-1.5698463620944691,-1.601355913491399,1.57870024772067,-1.5479101819037964,-1.5708152437205447,0.0009499326985533683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.959999999999895,"joint_targets_rad":[-1.5698455867761185,-1.6014635150301573,1.583150764057422,-1.5522538655970306,-1.5708150980885929,0.0009507094971243522],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9799999999998927,"joint_targets_rad":[-1.5698449011690416,-1.6015534117635295,1.5875840171396032,-1.5565979856861794,-1.5708149530977606,0.0009513966462182333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":1.9999999999998905,"joint_targets_rad":[-1.5698443087966585,-1.6016255822216385,1.592000073796738,-1.5609426301219251,-1.5708148087722196,0.0009519906247353984],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.0199999999998886,"joint_targets_rad":[-1.5698438134578216,-1.6016800023438682,1.5963989973008066,-1.5652878859403339,-1.5708146651315567,0.0009524876365462852],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.0399999999998863,"joint_targets_rad":[-1.5698434192619048,-1.6017166453018346,1.6007808471752167,-1.5696338392442926,-1.570814522191198,0.0009528835754413193],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.059999999999884,"joint_targets_rad":[-1.5698431306763263,-1.601735481285741,1.6051456790134362,-1.573980575231493,-1.5708143799628176,0.0009531739776834969],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.079999999999882,"joint_targets_rad":[-1.5698429525828332,-1.601736477246111,1.609493544254891,-1.5783281782248566,-1.5708142384546937,0.0009533539658012297],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.0999999999998797,"joint_targets_rad":[-1.5698428903442412,-1.6017195965805318,1.6138244899052785,-1.582676731702914,-1.570814097672022,0.0009534181819504417],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.1199999999998775,"joint_targets_rad":[-1.56984294988432,-1.6016847987519098,1.6181385581881504,-1.587026318330476,-1.5708139576171765,0.0009533607081479322],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.1399999999998753,"joint_targets_rad":[-1.5698431377843407,-1.6016320388204948,1.6224357861106222,-1.5913770199902013,-1.5708138182899254,0.0009531749698685729],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.159999999999873,"joint_targets_rad":[-1.5698434614009866,-1.601561266866153,1.6267162049204578,-1.5957289178158498,-1.5708136796876022,0.0009528536183168147],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.179999999999871,"joint_targets_rad":[-1.5698439290119133,-1.6014724272692766,1.6309798394238764,-1.6000820922282202,-1.570813541805226,0.0009523883850927576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.1999999999998687,"joint_targets_rad":[-1.569844549997566,-1.601365457807263,1.635226707122231,-1.604436622975069,-1.5708134046355695,0.0009517699006647706],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.2199999999998665,"joint_targets_rad":[-1.5698453350711488,-1.601240288507013,1.6394568171096524,-1.608792589176771,-1.5708132681691633,0.0009509874647721909],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.2399999999998643,"joint_targets_rad":[-1.5698462965735396,-1.6010968401696526,1.6436701686500967,-1.6131500693801355,-1.5708131323942318,0.0009500287519985884],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.259999999999862,"joint_targets_rad":[-1.569847448857274,-1.6009350224473962,1.6478667493168715,-1.6175091416238216,-1.5708129972965321,0.0009488794284274512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.27999999999986,"joint_targets_rad":[-1.5698488087950375,-1.600754731296784,1.6520465325233946,-1.6218698835202927,-1.57081286285908,0.0009475226440287349],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.2999999999998577,"joint_targets_rad":[-1.569850396465947,-1.6005558455448947,1.6562094741885371,-1.6262323723617218,-1.570812729061705,0.0009459383475675105],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.3199999999998555,"joint_targets_rad":[-1.5698522361019795,-1.6003382221631888,1.6603555081414711,-1.6305966852611564,-1.5708125958803796,0.000944102341862234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.3399999999998533,"joint_targets_rad":[-1.5698543574258177,-1.6001016896059155,1.6644845396391423,-1.6349628993468068,-1.5708124632862037,0.0009419849483596434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.359999999999851,"joint_targets_rad":[-1.56985679759691,-1.599846038156571,1.668596435966297,-1.639331092038714,-1.570812331243867,0.0009395490646733589],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.379999999999849,"joint_targets_rad":[-1.5698585632494837,-1.5996776197449583,1.6687807734063929,-1.6397032209422275,-1.5708108227061914,0.0009377854170046737],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.3999999999998467,"joint_targets_rad":[-1.5698600963808023,-1.5995427779382276,1.6686672878166673,-1.639743676042276,-1.5708093564664036,0.0009362529709979458],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.4199999999998445,"joint_targets_rad":[-1.5698614651414782,-1.5994334972814919,1.6685769281385046,-1.6397797888014636,-1.57080804739225,0.000934884457219574],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.4399999999998423,"joint_targets_rad":[-1.569862688414997,-1.5993453643452482,1.6685054877741288,-1.6398119654004768,-1.5708068772043415,0.000933661170774084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.45999999999984,"joint_targets_rad":[-1.5698637830181776,-1.599274417920228,1.668449237867358,-1.6398406159119312,-1.570805829833916,0.0009325663602609644],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.479999999999838,"joint_targets_rad":[-1.5698647636201701,-1.59921740900226,1.6684051523647552,-1.6398661205971061,-1.5708048912962607,0.0009315854011885551],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.4999999999998357,"joint_targets_rad":[-1.5698656430219036,-1.5991716918550372,1.6683707925206022,-1.6398888263598388,-1.5708040493942195,0.0009307055264869285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.5199999999998335,"joint_targets_rad":[-1.5698664324241902,-1.599135114271545,1.6683441945880393,-1.6399090463625055,-1.5708032934570568,0.0009299155617038182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.5399999999998313,"joint_targets_rad":[-1.5698671416547891,-1.599105926481215,1.6683237780529057,-1.6399270611925865,-1.5708026141218172,0.0009292056999605592],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.559999999999829,"joint_targets_rad":[-1.5698677793591669,-1.599082706689016,1.6683082716225077,-1.6399431208925144,-1.570802003150513,0.0009285673125981793],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.579999999999827,"joint_targets_rad":[-1.5698683531612145,-1.599064300299967,1.668296653549223,-1.639957447424265,-1.5708014532766172,0.0009279927894638419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.5999999999998247,"joint_targets_rad":[-1.569868869799168,-1.5990497703285003,1.6682881034781865,-1.6399702372929112,-1.570800958075567,0.0009274754037017535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.6199999999998225,"joint_targets_rad":[-1.569869335241007,-1.5990383569433517,1.6682819635687571,-1.6399816641560023,-1.570800511855025,0.0009270091968588527],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.6399999999998203,"joint_targets_rad":[-1.5698697547827924,-1.5990294444731243,1.6682777070882504,-1.639991881314965,-1.57080010956149,0.0009265888809165927],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.659999999999818,"joint_targets_rad":[-1.5698701331327727,-1.599022534503893,1.6682749130329233,-1.6400010240309832,-1.570799746700487,0.0009262097544427335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.679999999999816,"joint_targets_rad":[-1.5698704744835772,-1.5990172239504181,1.6682732456150322,-1.6400092116382667,-1.5707994192680963,0.0009258676305950446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.6999999999998137,"joint_targets_rad":[-1.5698707825629972,-1.5990131991897036,1.6682724494534853,-1.6400165504695212,-1.5707991236835577,0.0009255587957337128],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.7199999999998115,"joint_targets_rad":[-1.569871060729151,-1.5990101851655971,1.6682723006092115,-1.6400231328229962,-1.5707988567660394,0.0009252798862415422],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.7399999999998093,"joint_targets_rad":[-1.5698713119619159,-1.599007965254779,1.6682726266654337,-1.6400290402819504,-1.5707986156617242,0.0009250279226141837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.759999999999807,"joint_targets_rad":[-1.5698715389363795,-1.5990063705791762,1.6682732970785965,-1.6400343454779123,-1.5707983978108255,0.0009248002332817619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.779999999999805,"joint_targets_rad":[-1.5698717440482042,-1.599005265800248,1.668274209881064,-1.6400391127601275,-1.5707982009202217,0.0009245944257526006],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.7999999999998026,"joint_targets_rad":[-1.5698719294466732,-1.599004542354477,1.6682752856001277,-1.6400433991692358,-1.5707980229321512,0.0009244083532491391],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.8199999999998004,"joint_targets_rad":[-1.5698720970619098,-1.59900411333866,1.6682764627241362,-1.6400472553185865,-1.5707978619983085,0.0009242400875485594],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.8399999999997982,"joint_targets_rad":[-1.5698722486286392,-1.5990039093797617,1.6682776940730812,-1.6400507261677268,-1.5707977164571896,0.0009240878953096276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.859999999999796,"joint_targets_rad":[-1.5698723857071115,-1.5990038752769358,1.6682789438721224,-1.640053851698588,-1.5707975848141305,0.0009239502172262192],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.879999999999794,"joint_targets_rad":[-1.5698725097015929,-1.5990039672706011,1.6682801853920401,-1.640056667506198,-1.5707974657236614,0.0009238256496035406],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.8999999999997916,"joint_targets_rad":[-1.5698726218767263,-1.599004150822889,1.6682813990490524,-1.6400592053147944,-1.5707973579738905,0.0009237129280561293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.9199999999997894,"joint_targets_rad":[-1.569872723372046,-1.5990043988152085,1.6682825708769276,-1.6400614934289888,-1.5707972604726432,0.0009236109130463244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.9399999999997872,"joint_targets_rad":[-1.5698728152148707,-1.5990046900859127,1.6682836913006742,-1.6400635571284612,-1.5707971722351486,0.0009235185770303337],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.959999999999785,"joint_targets_rad":[-1.56987289833178,-1.5990050082450853,1.668284754154324,-1.6400654190135973,-1.5707970923730759,0.0009234349930268324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.979999999999783,"joint_targets_rad":[-1.5698729735588353,-1.5990053407150393,1.6682857558961415,-1.6400670993085131,-1.5707970200847654,0.0009233593244221011],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":2.9999999999997806,"joint_targets_rad":[-1.5698730416507103,-1.599005677954503,1.6682866949833324,-1.6400686161270739,-1.5707969546465004,0.0009232908158737031],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.0199999999997784,"joint_targets_rad":[-1.569873103288845,-1.599006012832188,1.6682875713754508,-1.6400699857067422,-1.5707968954047133,0.0009232287851795084],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.039999999999776,"joint_targets_rad":[-1.5698731590887427,-1.5990063401217653,1.668288386141532,-1.6400712226144547,-1.5707968417690041,0.0009231726160016471],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.059999999999774,"joint_targets_rad":[-1.5698732091695828,-1.5990066616824996,1.6682891387861123,-1.640072324469082,-1.570796793823378,0.0009231221763204495],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.079999999999772,"joint_targets_rad":[-1.5698732506462174,-1.599007084124708,1.6682899221875578,-1.6400733122733093,-1.5707967612345435,0.0009230805277487238],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.0999999999997696,"joint_targets_rad":[-1.5698732891058131,-1.5990074613461716,1.6682906345631892,-1.6400742261374552,-1.5707967291443083,0.0009230423922047727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.1199999999997674,"joint_targets_rad":[-1.5698733259341833,-1.599007784439652,1.6682912596972652,-1.6400750430847066,-1.570796694569304,0.0009230057847629343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.139999999999765,"joint_targets_rad":[-1.5698733591152252,-1.599008090751935,1.6682918339355712,-1.6400757789207325,-1.5707966636771764,0.0009229729351316494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.159999999999763,"joint_targets_rad":[-1.5698733890769583,-1.5990083755818458,1.6682923592521273,-1.640076446170108,-1.5707966358572087,0.0009229433698865521],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.179999999999761,"joint_targets_rad":[-1.5698890869827407,-1.6020876136697006,1.6242216895412216,-1.5931403767291759,-1.5707818319460687,0.0009072783149568881],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.1999999999997586,"joint_targets_rad":[-1.5698880802347943,-1.602191865828773,1.6231661600564455,-1.5919795031299906,-1.5707818923932695,0.0009082777537724278],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.2199999999997564,"joint_targets_rad":[-1.5698924329467305,-1.6022609444483955,1.619603421187206,-1.5883467779105338,-1.5707819002026593,0.000903931191484019],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.239999999999754,"joint_targets_rad":[-1.5698974134923995,-1.6023395684399717,1.615373099845065,-1.584038257535955,-1.5707817847047307,0.0008989586798100556],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.259999999999752,"joint_targets_rad":[-1.5698975172544507,-1.6024004948971535,1.6111016416746724,-1.579706500442205,-1.5707816439703415,0.0008988512707955441],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.27999999999975,"joint_targets_rad":[-1.5698973795818403,-1.6024437554897597,1.6068121408032425,-1.5753743772628135,-1.5707815026536007,0.0008989850404622748],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.2999999999997476,"joint_targets_rad":[-1.5698972408088416,-1.6024693501544411,1.6025059014890932,-1.5710431829079972,-1.5707813619887452,0.000899120266356696],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.3199999999997454,"joint_targets_rad":[-1.5698971133134618,-1.6024772857827034,1.5981829286707174,-1.5667129155799222,-1.5707812218935937,0.0008992445702587869],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.339999999999743,"joint_targets_rad":[-1.5698969972948076,-1.6024675684658622,1.5938431515998766,-1.5623834990881087,-1.5707810822293544,0.0008993577224439778],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.359999999999741,"joint_targets_rad":[-1.5698968925457506,-1.6024402031864455,1.5894864936707669,-1.5580548524704099,-1.5707809428673667,0.0008994599007317547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.3799999999997388,"joint_targets_rad":[-1.569896798832565,-1.6023951937033454,1.58511287616637,-1.5537268938308435,-1.5707808036900037,0.0008995513118672988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.3999999999997366,"joint_targets_rad":[-1.5698967159228046,-1.60233254252411,1.580722218337175,-1.5493995404498562,-1.5707806645895577,0.0008996321635667407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.4199999999997344,"joint_targets_rad":[-1.5698966435913093,-1.6022522508956936,1.5763144373856715,-1.5450727087823466,-1.5707805254671752,0.0008997026583675704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.439999999999732,"joint_targets_rad":[-1.5698965816194685,-1.6021543187898466,1.571889448435049,-1.5407463144449414,-1.5707803862318757,0.0008997629942183974],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.45999999999973,"joint_targets_rad":[-1.5698965297940084,-1.6020387448851692,1.5674471644880499,-1.536420272196436,-1.570780246799672,0.0008998133655354478],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.4799999999997278,"joint_targets_rad":[-1.5698964879058726,-1.6019055265473419,1.5629874963844632,-1.5320944959183629,-1.5707801070927856,0.0008998539641848513],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.4999999999997256,"joint_targets_rad":[-1.5698964557491817,-1.6017546598074297,1.5585103527573787,-1.5277688985959403,-1.5707799670389475,0.000899884980388893],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.5199999999997234,"joint_targets_rad":[-1.5698964331202458,-1.6015861393381754,1.5540156399875997,-1.5234433922989157,-1.57077982657077,0.0008999066035851389],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.539999999999721,"joint_targets_rad":[-1.5698964198166163,-1.60139995842828,1.5495032621560962,-1.5191178881622167,-1.5707796856251846,0.0008999190232587088],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.559999999999719,"joint_targets_rad":[-1.5698964151994712,-1.6011961398937473,1.5449732207546003,-1.5147923648604629,-1.5707795441693844,0.0008999228657508388],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.5799999999997167,"joint_targets_rad":[-1.569896419343304,-1.6009746867193284,1.5404254591719293,-1.5104667629839341,-1.5707794021580344,0.0008999180467498182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.5999999999997145,"joint_targets_rad":[-1.5698964322531923,-1.6007355874692195,1.5358598753124966,-1.5061409922042712,-1.570779259535518,0.0008999045519751685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.6199999999997123,"joint_targets_rad":[-1.5698964537174986,-1.6004788294452843,1.5312763640985998,-1.5018149604652498,-1.5707791162482416,0.0008998825841963311],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.63999999999971,"joint_targets_rad":[-1.569896483513111,-1.6002043983682728,1.5266748178106169,-1.4974885746371762,-1.5707789722451135,0.0008998523584434139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.659999999999708,"joint_targets_rad":[-1.5698965214139529,-1.5999122783419848,1.5220551260953346,-1.4931617405623558,-1.570778827477267,0.0008998140934512918],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.6799999999997057,"joint_targets_rad":[-1.5698965671906266,-1.5996024518105711,1.5174171759033142,-1.4888343630367655,-1.5707786818977556,0.0008997680119473919],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.6999999999997035,"joint_targets_rad":[-1.569896620609467,-1.5992748995130124,1.5127608514197477,-1.484506345787923,-1.5707785354612749,0.0008997143415397745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.7199999999997013,"joint_targets_rad":[-1.569896681431562,-1.5989296004343871,1.5080860339914863,-1.480177591452025,-1.5707783881239046,0.0008996533156377687],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.739999999999699,"joint_targets_rad":[-1.5698967494117504,-1.5985665317536866,1.5033926020501323,-1.475848001550491,-1.5707782398428767,0.0008995851744004347],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.759999999999697,"joint_targets_rad":[-1.5698968242976008,-1.5981856687878935,1.498680431030886,-1.471517476465904,-1.57077809057636,0.0008995101657137408],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.7799999999996947,"joint_targets_rad":[-1.5698969058283503,-1.5977869849320028,1.493949393286759,-1.467185915417293,-1.5707779402832596,0.0008994285462032931],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.7999999999996925,"joint_targets_rad":[-1.5698969937338045,-1.5973704515946134,1.4891993579977307,-1.4628532164347146,-1.5707777889230337,0.0008993405822973917],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.8199999999996903,"joint_targets_rad":[-1.5698970877331742,-1.5969360381286475,1.4844301910743665,-1.458519276333095,-1.5707776364555215,0.0008992465513525269],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.839999999999688,"joint_targets_rad":[-1.5698971875338525,-1.5964837117567137,1.4796417550553604,-1.4541839906853118,-1.5707774828407817,0.0008991467428409642],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.859999999999686,"joint_targets_rad":[-1.5698972928301067,-1.5960134374905286,1.4748339089983638,-1.44984725379444,-1.57077732803894,0.000899041459633116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.8799999999996837,"joint_targets_rad":[-1.5698974033016748,-1.595525178043732,1.4700065083633895,-1.4455089586651542,-1.5707771720100434,0.0008989310193663486],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.8999999999996815,"joint_targets_rad":[-1.5698975186122541,-1.5950188937373246,1.4651594048879841,-1.4411689969742334,-1.570777014713921,0.0008988157559347179],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.9199999999996793,"joint_targets_rad":[-1.5698976384078551,-1.594494542396826,1.4602924464532054,-1.4368272590401323,-1.57077685611005,0.0008986960211102675],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.939999999999677,"joint_targets_rad":[-1.56989776231501,-1.5939520792401038,1.4554054769393117,-1.432483633791572,-1.5707766961574217,0.0008985721863124749],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.959999999999675,"joint_targets_rad":[-1.569897889938803,-1.5933914567546557,1.450498336069912,-1.4281380087351325,-1.5707765348144134,0.0008984446445569123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.9799999999996727,"joint_targets_rad":[-1.5698980208607,-1.592812624562885,1.4455708592430547,-1.4237902699217835,-1.5707763720386547,0.0008983138126080195],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":3.9999999999996705,"joint_targets_rad":[-1.5698981546361437,-1.5922155292736855,1.4406228773475274,-1.4194403019123245,-1.570776207786898,0.0008981801333650649],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.019999999999677,"joint_targets_rad":[-1.5698982907918797,-1.5916001143183125,1.435654216562312,-1.4150879877417053,-1.5707760420148813,0.0008980440785189111],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.039999999999684,"joint_targets_rad":[-1.5698984288229691,-1.590966319768142,1.4306646981367328,-1.410733208882174,-1.5707758746771865,0.0008979061515278444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.0599999999996905,"joint_targets_rad":[-1.5698985681894286,-1.59031408213146,1.4256541381484165,-1.4063758452052435,-1.5707757057270944,0.0008977668909546612],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.079999999999697,"joint_targets_rad":[-1.5698987083124545,-1.5896433341258158,1.4206223472355315,-1.402015774942408,-1.5707755351164234,0.0008976268742350028],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.099999999999704,"joint_targets_rad":[-1.5698988485701402,-1.5889540044217905,1.4155691302991462,-1.3976528746446277,-1.570775362795362,0.0008974867219424686],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.119999999999711,"joint_targets_rad":[-1.5698989882926113,-1.5882460173530926,1.4104942861705616,-1.3932870191405295,-1.5707751887122816,0.0008973471026402008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.139999999999717,"joint_targets_rad":[-1.5698991267564708,-1.5875192925867772,1.405397607237395,-1.3889180814933253,-1.5707750128135318,0.0008972087384183942],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.159999999999724,"joint_targets_rad":[-1.5698992631784279,-1.5867737447459356,1.4002788790207434,-1.3845459329564496,-1.5707748350432116,0.0008970724112537294],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.179999999999731,"joint_targets_rad":[-1.569899396707952,-1.5860092829753472,1.3951378796939153,-1.3801704429279495,-1.5707746553429074,0.0008969389703380532],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.199999999999737,"joint_targets_rad":[-1.5698995264187714,-1.5852258104382024,1.3899743795308432,-1.375791478903648,-1.5707744736513989,0.0008968093405623042],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.219999999999744,"joint_targets_rad":[-1.569899651298971,-1.5844232237288967,1.3847881402692348,-1.3714089064291952,-1.570774289904314,0.0008966845323991579],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.239999999999751,"joint_targets_rad":[-1.5698997702394075,-1.5836014121827917,1.3795789143694184,-1.3670225890511158,-1.5707741040337257,0.0008965656534711004],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.259999999999757,"joint_targets_rad":[-1.5698998820200667,-1.5827602570583965,1.3743464441444844,-1.362632388267064,-1.5707739159676806,0.0008964539221669229],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.279999999999764,"joint_targets_rad":[-1.5698999852939133,-1.5818996305601112,1.3690904607300811,-1.3582381634756056,-1.5707737256296277,0.0008963506837633008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.299999999999771,"joint_targets_rad":[-1.5699000785676347,-1.5810193946596707,1.3638106828523255,-1.353839771925957,-1.5707735329377333,0.0008962574296517274],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.319999999999777,"joint_targets_rad":[-1.5699001601785307,-1.5801193996606824,1.358506815338721,-1.349437068668343,-1.5707733378040398,0.0008961758204125106],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.339999999999784,"joint_targets_rad":[-1.5699002282665773,-1.5791994824313678,1.3531785472979483,-1.3450299065059488,-1.5707731401334237,0.0008961077137055192],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.359999999999791,"joint_targets_rad":[-1.569900280740379,-1.5782594642031884,1.3478255498673237,-1.3406181359498688,-1.5707729398222903,0.000896055198260608],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.379999999999797,"joint_targets_rad":[-1.56990031523534,-1.5772991477933418,1.3424474733875966,-1.336201605179162,-1.5707727367569069,0.000896020635641515],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.399999999999804,"joint_targets_rad":[-1.5699003290618063,-1.5763183140505257,1.3370439438070343,-1.33178016000916,-1.5707725308112546,0.0008960067120214377],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.419999999999811,"joint_targets_rad":[-1.5699003191401728,-1.575316717235068,1.331614558029843,-1.3273536438728255,-1.5707723218442022,0.0008960165029685582],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.439999999999817,"joint_targets_rad":[-1.5699002819188734,-1.5742940789082098,1.3261588777898534,-1.3229218978226083,-1.570772109695727,0.000896053555319038],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.459999999999824,"joint_targets_rad":[-1.5699002132696747,-1.5732500796892563,1.3206764214180176,-1.3184847605645682,-1.570771894181756,0.0008961219917144593],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.479999999999831,"joint_targets_rad":[-1.5699001083526278,-1.5721843478863693,1.3151666525256027,-1.3140420685439393,-1.570771675086963,0.0008962266454188534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.4999999999998375,"joint_targets_rad":[-1.5698999614402143,-1.571096443410081,1.309628964039319,-1.309593656114245,-1.570771452154449,0.0008963732358768077],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.519999999999844,"joint_targets_rad":[-1.5698991546659935,-1.5702607538588378,1.3056740170480385,-1.3064681715789972,-1.5707719413618966,0.0008971780381523244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.539999999999851,"joint_targets_rad":[-1.5698969648247192,-1.5700604605550779,1.30540891507192,-1.3063801759915756,-1.5707740352330317,0.0008993621683654841],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.5599999999998575,"joint_targets_rad":[-1.569894940532983,-1.5698913993692638,1.3051835971119319,-1.3063026500500765,-1.5707759707717164,0.0009013809972974802],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.579999999999864,"joint_targets_rad":[-1.5698930780976057,-1.5697507092013125,1.3049945275464796,-1.306234843467365,-1.5707777523265258,0.0009032389042074476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.599999999999871,"joint_targets_rad":[-1.5698913669618366,-1.569633632347467,1.3048358841975987,-1.306175541821899,-1.5707793896124238,0.0009049463861278533],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.6199999999998775,"joint_targets_rad":[-1.5698897970087153,-1.5695360944963,1.3047026465788971,-1.3061236629578052,-1.5707808921658273,0.0009065134593554652],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.639999999999884,"joint_targets_rad":[-1.5698883583991985,-1.5694547222782715,1.3045906131452427,-1.3060782520985352,-1.5707822693013969,0.0009079498627606046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.659999999999891,"joint_targets_rad":[-1.5698870416340467,-1.5693867336648806,1.3044962822257582,-1.3060384716521165,-1.5707835300323898,0.0009092650016867216],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.679999999999898,"joint_targets_rad":[-1.5698858376167657,-1.5693298347756666,1.3044167378861518,-1.3060035899194333,-1.5707846830043324,0.0009104678867500437],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.699999999999904,"joint_targets_rad":[-1.6073100881475237,-1.5832046638490203,1.3347784906884792,-1.322345295630512,-1.5708875148064783,-0.03642775543074719],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.719999999999911,"joint_targets_rad":[-1.608537464045183,-1.5832602971873393,1.333446271502168,-1.3209584016171965,-1.570860231654626,-0.03765554941854843],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.739999999999918,"joint_targets_rad":[-1.611874634651187,-1.5840485429036784,1.3338049075143008,-1.320529120942127,-1.5708547406628584,-0.04099293171004931],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.759999999999924,"joint_targets_rad":[-1.61546448174218,-1.5848142327383041,1.334383413230654,-1.3203425573329903,-1.5708583872544788,-0.04458262582350847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.779999999999931,"joint_targets_rad":[-1.6190551328479978,-1.585566357786767,1.3349781634197544,-1.3201856388493451,-1.5708627984196148,-0.048173129211664584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.799999999999938,"joint_targets_rad":[-1.6226478617625593,-1.58630433573243,1.335560784744914,-1.3200307567015943,-1.5708668924016058,-0.05176572076543198],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.819999999999944,"joint_targets_rad":[-1.626242098515351,-1.5870281153904864,1.336128717293738,-1.3198754095174952,-1.570870604258345,-0.05535983074176715],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.839999999999951,"joint_targets_rad":[-1.6298377105854587,-1.5877376622261457,1.3366817220595197,-1.3197193900959254,-1.5708739598893362,-0.05895532579217416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.859999999999958,"joint_targets_rad":[-1.6334345903244647,-1.5884329459703754,1.3372197993676416,-1.3195627254013522,-1.570876991567699,-0.06255209746338246],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.879999999999964,"joint_targets_rad":[-1.6370326319807045,-1.5891139372186278,1.3377429705611916,-1.3194054628535128,-1.5708797294137213,-0.06615003928828736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.899999999999971,"joint_targets_rad":[-1.6406317309079779,-1.5897806075567413,1.3382512570947702,-1.319247649433068,-1.5708822008118257,-0.069749045986127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.919999999999978,"joint_targets_rad":[-1.6442317833015958,-1.590432929598342,1.3387446792048943,-1.3190893302711946,-1.5708844306030783,-0.07334901318942695],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.939999999999984,"joint_targets_rad":[-1.6478326860656605,-1.591070876894473,1.3392232558390558,-1.3189305486196867,-1.5708864413104446,-0.07694983730297048],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.959999999999991,"joint_targets_rad":[-1.651434336736454,-1.591694423860636,1.3396870046882539,-1.3187713459135668,-1.5708882533485191,-0.08055141541973845],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":4.979999999999998,"joint_targets_rad":[-1.6550366334161903,-1.5923035457213706,1.3401359422649621,-1.3186117618664188,-1.5708898852167077,-0.08415364524809243],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.000000000000004,"joint_targets_rad":[-1.658639474713429,-1.5928982184611842,1.3405700839784607,-1.318451834561164,-1.570891353675536,-0.0877564250464131],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.020000000000011,"joint_targets_rad":[-1.66224275968975,-1.5934784187808875,1.3409894442008958,-1.3182916005301502,-1.5708926739071967,-0.0913596535646897],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.040000000000018,"joint_targets_rad":[-1.6658463878121597,-1.5940441240592473,1.341394036326874,-1.3181310948269804,-1.5708938596617192,-0.09496322999245262],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.0600000000000245,"joint_targets_rad":[-1.6694502589108036,-1.5945953123193033,1.3417838728274087,-1.3179703510911696,-1.5708949233899887,-0.0985670539125557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.080000000000031,"joint_targets_rad":[-1.6730542731415916,-1.595131962198716,1.3421589652985408,-1.3178094016061983,-1.570895876364724,-0.10217102526033536],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.100000000000038,"joint_targets_rad":[-1.6766583309533272,-1.5956540529236747,1.3425193245050784,-1.3176482773515972,-1.5708967287904596,-0.10577504428769392],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.1200000000000445,"joint_targets_rad":[-1.6802623330589916,-1.596161564285918,1.342864960419865,-1.3174870080496073,-1.570897489903484,-0.10937901153169735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.140000000000051,"joint_targets_rad":[-1.6838661804108483,-1.596654476622492,1.3431958822589765,-1.3173256222069523,-1.5708981680626173,-0.11298282778731182],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.160000000000058,"joint_targets_rad":[-1.6874697741790274,-1.5971327707979153,1.3435120985131808,-1.3171641471521653,-1.570898770831639,-0.1165863940839047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.1800000000000646,"joint_targets_rad":[-1.6910730157333334,-1.5975964281884534,1.3438136169759742,-1.3170026090688807,-1.5708993050541127,-0.12018961166520614],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.200000000000071,"joint_targets_rad":[-1.6946758066279775,-1.5980454306682457,1.3441004447684997,-1.3168410330254714,-1.5708997769212778,-0.1237923819724139],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.220000000000078,"joint_targets_rad":[-1.698278048589,-1.5984797605970555,1.3443725883615953,-1.3166794430013666,-1.570900192033647,-0.12739460663017563],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.240000000000085,"joint_targets_rad":[-1.701879643504137,-1.5988994008094348,1.344630053595206,-1.3165178619103357,-1.5709005554568711,-0.13099618743518238],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.260000000000091,"joint_targets_rad":[-1.705480493414929,-1.5993043346051388,1.3448728456953993,-1.3163563116210402,-1.570900871772391,-0.1345970263471451],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.280000000000098,"joint_targets_rad":[-1.709080500510871,-1.599694545740603,1.3451009692891418,-1.316194812975065,-1.5709011451233583,-0.13819702548194257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.300000000000105,"joint_targets_rad":[-1.7126795671254142,-1.600070018421374,1.3453144284170473,-1.3160333858026834,-1.5709013792562574,-0.14179608710673566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.320000000000111,"joint_targets_rad":[-1.7162775957336627,-1.6004307372953306,1.345513226544228,-1.3158720489365314,-1.5709015775586195,-0.1453941136368701],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.340000000000118,"joint_targets_rad":[-1.7198744889515991,-1.600776687446609,1.345697366569402,-1.3157108202233865,-1.570901743093195,-0.14899100763439713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.360000000000125,"joint_targets_rad":[-1.7234701495367075,-1.6011078543901107,1.3458668508323797,-1.315549716534202,-1.5709018786289093,-0.1525866718080699],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.380000000000131,"joint_targets_rad":[-1.7270644803898525,-1.6014242240665097,1.3460216811200338,-1.3153887537725517,-1.5709019866688976,-0.15618100901466508],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.400000000000138,"joint_targets_rad":[-1.7306573845582975,-1.6017257828376699,1.3461618586708692,-1.315227946881612,-1.5709020694758993,-0.15977392226149645],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.420000000000145,"joint_targets_rad":[-1.734248765239754,-1.6020125174823976,1.3462873841782501,-1.31506730984979,-1.5709021290952467,-0.16336531471001908],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.440000000000151,"joint_targets_rad":[-1.7378385257873539,-1.6022844151924651,1.3463982577923936,-1.314906855715122,-1.5709021673756807,-0.1669550896804039],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.460000000000158,"joint_targets_rad":[-1.74142656971545,-1.6025414635688315,1.3464944791211648,-1.314746596568511,-1.570902185988195,-0.17054315065697823],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.480000000000165,"joint_targets_rad":[-1.7450128007061654,-1.6027836506180142,1.34657604722975,-1.3145865435559059,-1.5709021864430903,-0.17412940129445567],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.500000000000171,"joint_targets_rad":[-1.748597122616598,-1.6030109647485467,1.3466429606392336,-1.3144267068794733,-1.5709021701054124,-0.1777137454248499],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.520000000000178,"joint_targets_rad":[-1.7521794394866168,-1.6032233947674859,1.3466952173241487,-1.3142670957978568,-1.5709021382089206,-0.1812960870650166],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.540000000000185,"joint_targets_rad":[-1.7557596555471742,-1.6034209298769078,1.3467328147089817,-1.3141077186255359,-1.5709020918687289,-0.1848763304247304],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.5600000000001915,"joint_targets_rad":[-1.7593376752290744,-1.6036035596703597,1.3467557496637055,-1.3139485827313693,-1.5709020320927412,-0.18845437991524755],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.580000000000198,"joint_targets_rad":[-1.762913403172134,-1.603771274129224,1.3467640184983132,-1.313789694536338,-1.5709019597919989,-0.192030140158275],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.600000000000205,"joint_targets_rad":[-1.7664867442346843,-1.6039240636189516,1.3467576169563835,-1.313631059510531,-1.5709018757900401,-0.19560351599530784],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.6200000000002115,"joint_targets_rad":[-1.770057603503354,-1.60406191888513,1.3467365402076599,-1.3134726821693854,-1.5709017808313646,-0.1991744124972596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.640000000000218,"joint_targets_rad":[-1.7736258863031011,-1.6041848310493552,1.3467007828396589,-1.3133145660692218,-1.5709016755890908,-0.20274273497435322],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.660000000000225,"joint_targets_rad":[-1.7771914982074275,-1.6042927916048535,1.3466503388482545,-1.3131567138020523,-1.57090156067188,-0.20630838898621692],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.6800000000002315,"joint_targets_rad":[-1.7807543450487484,-1.604385792411842,1.3465852016272664,-1.312999126989709,-1.5709014366301972,-0.20987128035214295],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.700000000000238,"joint_targets_rad":[-1.7843143329288726,-1.6044638256925714,1.3465053639569684,-1.3128418062772433,-1.5709013039619717,-0.21343131516146321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.720000000000245,"joint_targets_rad":[-1.787871368229544,-1.6045268840260252,1.3464108179915222,-1.3126847513256317,-1.5709011631177163,-0.21698839978400647],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.740000000000252,"joint_targets_rad":[-1.7914253576230281,-1.60457496034224,1.3463015552452675,-1.3125279608037472,-1.5709010145051512,-0.22054244088060124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.760000000000258,"joint_targets_rad":[-1.794976208082688,-1.6046080479161982,1.3461775665778122,-1.3123714323795772,-1.570900858493388,-0.22409334541357773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.780000000000265,"joint_targets_rad":[-1.798523826893524,-1.6046261403612683,1.3460388421778797,-1.3122151627106748,-1.5709006954167084,-0.2276410206572449],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.800000000000272,"joint_targets_rad":[-1.8020681216626426,-1.6046292316221384,1.3458853715458179,-1.3120591474337966,-1.5709005255779775,-0.2311853742083017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.820000000000278,"joint_targets_rad":[-1.8056090003296243,-1.6046173159672057,1.345717143474697,-1.3119033811536849,-1.5709003492517315,-0.23472631399614596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.840000000000285,"joint_targets_rad":[-1.8091463711767484,-1.6045903879803745,1.3455341460298933,-1.3117478574309402,-1.5709001666869624,-0.238263748293061],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.860000000000292,"joint_targets_rad":[-1.8126801428390558,-1.6045484425522103,1.345336366527062,-1.3115925687689418,-1.5708999781096376,-0.2417975857242308],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.880000000000298,"joint_targets_rad":[-1.8162102243141973,-1.604491474870397,1.3451237915083656,-1.3114375065997215,-1.570899783724971,-0.24532773527755133],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.900000000000305,"joint_targets_rad":[-1.8197365249720572,-1.6044194804094338,1.3448964067168248,-1.3112826612687312,-1.570899583719477,-0.24885410631322286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.920000000000312,"joint_targets_rad":[-1.823258954564098,-1.6043324549195193,1.3446541970686396,-1.3111280220184063,-1.5708993782628207,-0.25237660857306554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.940000000000318,"joint_targets_rad":[-1.8267774232323988,-1.6042303944145335,1.3443971466233018,-1.3109735769704174,-1.5708991675094914,-0.25589515218953174],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.960000000000325,"joint_targets_rad":[-1.8302918415183564,-1.6041132951590567,1.3441252385513045,-1.3108193131064974,-1.5708989516003078,-0.2594096476943838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":5.980000000000332,"joint_targets_rad":[-1.833802120370995,-1.6039811536543267,1.343838455099233,-1.3106652162477124,-1.5708987306637776,-0.262920006026988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.000000000000338,"joint_targets_rad":[-1.8373081711548553,-1.6038339666230441,1.3435367775519835,-1.3105112710320177,-1.5708985048173223,-0.2664261385421822],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.020000000000345,"joint_targets_rad":[-1.8408099056574139,-1.6036717309929198,1.3432201861918345,-1.3103574608899344,-1.5708982741683806,-0.26992795701768496],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.040000000000352,"joint_targets_rad":[-1.8443072360959851,-1.6034944438788339,1.3428886602540528,-1.3102037680181478,-1.5708980388153988,-0.2734253736609885],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.060000000000358,"joint_targets_rad":[-1.8478000751240566,-1.6033021025634888,1.3425421778786903,-1.3100501733508165,-1.570897798848726,-0.27691830111568116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.080000000000365,"joint_targets_rad":[-1.851288335836993,-1.6030947044763877,1.3421807160581476,-1.3098966565283265,-1.5708975543514134,-0.2804066524671468],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.100000000000372,"joint_targets_rad":[-1.854771931777056,-1.602872247170981,1.341804250580074,-1.3097431958632244,-1.5708973053999347,-0.2838903412475812],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.1200000000003785,"joint_targets_rad":[-1.8582507769376628,-1.6026347282997755,1.3414127559650684,-1.309589768302995,-1.5708970520648295,-0.2873692814402482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.140000000000385,"joint_targets_rad":[-1.8617247857668118,-1.6023821455871947,1.3410062053986025,-1.309436349389324,-1.57089679441128,-0.2908433874829059],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.160000000000392,"joint_targets_rad":[-1.8651938731695814,-1.6021144967999368,1.3405845706564807,-1.3092829132134154,-1.5708965324996231,-0.2943125742703063],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.1800000000003985,"joint_targets_rad":[-1.8686579545096107,-1.6018317797145416,1.3401478220230902,-1.309129432366899,-1.5708962663858077,-0.29777675715568325],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.200000000000405,"joint_targets_rad":[-1.8721169456094489,-1.6015339920818388,1.3396959282015257,-1.3089758778877503,-1.5708959961218008,-0.30123585195110697],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.220000000000412,"joint_targets_rad":[-1.8755707627496472,-1.6012211315879057,1.3392288562146042,-1.3088222192006163,-1.5708957217559396,-0.3046897749265863],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.2400000000004185,"joint_targets_rad":[-1.8790193226664442,-1.600893195811085,1.3387465712955706,-1.3086684240507886,-1.5708954433332478,-0.30813844280776176],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.260000000000425,"joint_targets_rad":[-1.8824625425478907,-1.6005501821745736,1.3382490367671498,-1.308514458430983,-1.5708951608957038,-0.31158177277205035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.280000000000432,"joint_targets_rad":[-1.8859003400282073,-1.6001920878939813,1.3377362139073576,-1.3083602864999382,-1.5708948744824731,-0.3150196824430151],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.300000000000439,"joint_targets_rad":[-1.8893326331801668,-1.5998189099191884,1.337208061800234,-1.308205870491675,-1.5708945841301047,-0.31845208988276913],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.320000000000445,"joint_targets_rad":[-1.8927593405052303,-1.5994306448696882,1.3366645371693253,-1.308051170614064,-1.570894289872692,-0.3218789135821356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.340000000000452,"joint_targets_rad":[-1.896180380921141,-1.5990272889624835,1.3361055941914017,-1.3078961449351223,-1.5708939917419995,-0.32530007244826675],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.360000000000459,"joint_targets_rad":[-1.8995956737466158,-1.5986088379314136,1.3355311842873827,-1.3077407492551478,-1.5708936897675598,-0.3287154857893683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.380000000000465,"joint_targets_rad":[-1.9030051386827151,-1.598175286936604,1.3349412558869542,-1.3075849369624932,-1.5708933839767352,-0.3321250732961027],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.400000000000472,"joint_targets_rad":[-1.906408695790381,-1.5977266304624589,1.3343357541626142,-1.307428658870304,-1.570893074394748,-0.335528755019172],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.420000000000479,"joint_targets_rad":[-1.909806265463554,-1.5972628622023142,1.333714620728089,-1.3072718630310682,-1.5708927610446797,-0.33892645134247984],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.440000000000485,"joint_targets_rad":[-1.9131977683971408,-1.5967839749274928,1.3330777932950386,-1.3071144945251674,-1.5708924439474277,-0.34231808295115473],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.460000000000492,"joint_targets_rad":[-1.916583125548955,-1.596289960338005,1.3324252052806387,-1.3069564952187886,-1.5708921231216346,-0.3457035707935542],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.480000000000499,"joint_targets_rad":[-1.9199622580945859,-1.5957808088915664,1.3317567853570744,-1.3067978034856078,-1.570891798583568,-0.34908283603620965],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.500000000000505,"joint_targets_rad":[-1.9233350873738848,-1.5952565096068352,1.3310724569319305,-1.306638353885344,-1.570891470346957,-0.3524558000103982],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.520000000000512,"joint_targets_rad":[-1.9267015348274636,-1.5947170498358147,1.330372137545901,-1.3064780767907054,-1.5708911384227797,-0.35582238414874356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.540000000000519,"joint_targets_rad":[-1.930061521921236,-1.5941624149991618,1.3296557381709535,-1.3063168979521869,-1.5708908028189825,-0.35918250990987366],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.560000000000525,"joint_targets_rad":[-1.933414970056497,-1.593592588276533,1.328923162387844,-1.3061547379875336,-1.570890463540137,-0.36253609868864844],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.580000000000532,"joint_targets_rad":[-1.93676180046242,-1.5930075502420802,1.3281743054163666,-1.3059915117792444,-1.5708901205870052,-0.36588307170882156],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.600000000000539,"joint_targets_rad":[-1.9401019340669696,-1.5924072784324685,1.3274090529644225,-1.3058271277589295,-1.5708897739560028,-0.3692233498941571],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.6200000000005454,"joint_targets_rad":[-1.9434352913411164,-1.591791746831223,1.326627279852409,-1.3056614870513563,-1.5708894236385353,-0.37255685371289293],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.640000000000552,"joint_targets_rad":[-1.9467617921096911,-1.59116092524836,1.3258288483563823,-1.3054944824428787,-1.570889069620174,-0.37588350298889234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.660000000000559,"joint_targets_rad":[-1.9500813553201641,-1.5905147785677085,1.3250136061958824,-1.3053259971279774,-1.5708887118796317,-0.37920321667079504],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.6800000000005655,"joint_targets_rad":[-1.9533938987577506,-1.589853265825251,1.3241813840679422,-1.3051559031724385,-1.5708883503874744,-0.3825159125475818],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.700000000000572,"joint_targets_rad":[-1.9566993386912603,-1.5891763390691673,1.3233319925948483,-1.3049840596105158,-1.5708879851045041,-0.3858215068949983],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.720000000000579,"joint_targets_rad":[-1.9599975894284032,-1.588483941934258,1.3224652185049164,-1.3048103100632895,-1.5708876159796918,-0.38911991403159363],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.7400000000005855,"joint_targets_rad":[-1.9632885627510712,-1.5877760078374532,1.3215808197958014,-1.3046344797219258,-1.5708872429475174,-0.3924110457549476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.760000000000592,"joint_targets_rad":[-1.9665721671889789,-1.5870524576627967,1.3206785195271045,-1.3044563714754673,-1.5708868659245028,-0.3956948106165301],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.780000000000599,"joint_targets_rad":[-1.9698483070718538,-1.586313196746743,1.3197579977345444,-1.3042757608664335,-1.5708864848046171,-0.39897111297552507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.800000000000606,"joint_targets_rad":[-1.973116881272279,-1.5855581108859287,1.318818880720083,-1.3040923894091863,-1.5708860994531013,-0.4022398517438589],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.820000000000612,"joint_targets_rad":[-1.9763777815069357,-1.5847870609494432,1.3178607265963893,-1.3039059555715944,-1.5708857096979911,-0.405500918690448],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.840000000000619,"joint_targets_rad":[-1.9796308899916595,-1.583999875449455,1.3168830053519007,-1.3037161023389268,-1.5708853153182363,-0.4087541961004819],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.860000000000626,"joint_targets_rad":[-1.9828760761238642,-1.5831963400397444,1.3158850706717717,-1.3035223996362642,-1.570884916026619,-0.4119995534639194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.880000000000632,"joint_targets_rad":[-1.985818079655182,-1.5824368149491057,1.3149443818926367,-1.3033416131548774,-1.5708837662823203,-0.4149424090073401],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.900000000000639,"joint_targets_rad":[-1.9857589015126145,-1.5822949221583564,1.3147983556519098,-1.3033344431111056,-1.570875189799889,-0.4148909092014752],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.920000000000646,"joint_targets_rad":[-1.9857093466225462,-1.5821768506439746,1.3146763593148934,-1.3033279350317524,-1.5708679289831031,-0.41484832565317276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.940000000000652,"joint_targets_rad":[-1.9856691695141975,-1.5820804162954718,1.3145762800538459,-1.3033217687336744,-1.5708614094448055,-0.41481443162210574],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.960000000000659,"joint_targets_rad":[-1.985636786047336,-1.5820016870602054,1.3144942263723434,-1.3033160205689789,-1.5708554314096141,-0.4147877121505651],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":6.980000000000666,"joint_targets_rad":[-1.9856107757017807,-1.5819374004903857,1.3144269378544202,-1.3033107167639255,-1.5708499505164504,-0.4147668091406419],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.000000000000672,"joint_targets_rad":[-1.9855899555891958,-1.5818848927652884,1.3143717385185159,-1.303305859700081,-1.57084493678802,-0.4147505956576211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.020000000000679,"joint_targets_rad":[-1.9855733518781824,-1.581841992861199,1.3143264378536437,-1.3033014371287837,-1.5708403603698213,-0.414738148008026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.040000000000686,"joint_targets_rad":[-1.9855601656370034,-1.5818069315471759,1.3142892434357445,-1.3032974277708562,-1.570836190935367,-0.41472871220891805],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.060000000000692,"joint_targets_rad":[-1.9738461736403419,-1.5958530548395582,1.3766327473603308,-1.3512995843966453,-1.5708287345352712,-0.40304497261506134],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.080000000000699,"joint_targets_rad":[-1.9743867323255444,-1.5958091740281857,1.3768943277514312,-1.3516107778826636,-1.5708265929881875,-0.4035852276249789],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.100000000000706,"joint_targets_rad":[-1.9745448780961452,-1.5959593729585837,1.3790197173296639,-1.3535966770092296,-1.5708223572577678,-0.40374337568963664],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.120000000000712,"joint_targets_rad":[-1.9746938413417887,-1.5967641095174643,1.3839294630804513,-1.357703606112648,-1.5708218810416916,-0.40389247964935143],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.140000000000719,"joint_targets_rad":[-1.974858540987394,-1.5975916423690182,1.3891619757324591,-1.3621085330712877,-1.5708221983580706,-0.40405729291232156],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.160000000000726,"joint_targets_rad":[-1.9750269810036276,-1.5983993185155554,1.3943917142991593,-1.3665305308570592,-1.5708225155258178,-0.4042258254387792],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.1800000000007325,"joint_targets_rad":[-1.975195681549006,-1.5991884448763476,1.3996005997851986,-1.3709503410172974,-1.5708227814402862,-0.40439460707135694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.200000000000739,"joint_targets_rad":[-1.9753643861519627,-1.5999590919736766,1.4047870347607887,-1.3753662938974283,-1.5708229976772619,-0.4045633833432321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.220000000000746,"joint_targets_rad":[-1.975533076350891,-1.6007113246757871,1.4099511191027654,-1.3797784122711463,-1.5708231698531372,-0.4047321370394017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.2400000000007525,"joint_targets_rad":[-1.9757017537914805,-1.6014452018750998,1.4150930864241347,-1.3841868589550248,-1.5708233032375536,-0.40490087083475235],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.260000000000759,"joint_targets_rad":[-1.9758704217885847,-1.6021607785459235,1.4202131710832444,-1.3885918025920807,-1.5708234024679604,-0.4050695889242453],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.280000000000766,"joint_targets_rad":[-1.9760390836185915,-1.602858106192662,1.4253115978966873,-1.3929934068690215,-1.570823471608087,-0.40523829534204797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.3000000000007725,"joint_targets_rad":[-1.9762077423553757,-1.6035372330301652,1.430388582028664,-1.397391830116201,-1.5708235142232028,-0.40540699381676404],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.320000000000779,"joint_targets_rad":[-1.97637640087207,-1.6041982041167566,1.4354443295758803,-1.4017872256567063,-1.5708235334462965,-0.4055756877888804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.340000000000786,"joint_targets_rad":[-1.9765450618551967,-1.6048410614839521,1.4404790381878294,-1.4061797422041495,-1.5708235320348358,-0.40574438043794797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.360000000000793,"joint_targets_rad":[-1.9767137278196658,-1.605465844257073,1.4454928976397579,-1.4105695242317278,-1.5708235124193832,-0.4059130747084871],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.380000000000799,"joint_targets_rad":[-1.976882401123784,-1.606072588765553,1.4504860903477506,-1.4149567123023037,-1.5708234767453064,-0.4060817733341466],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.400000000000806,"joint_targets_rad":[-1.9770510839839284,-1.6066613286437652,1.455458791832236,-1.4193414433640648,-1.5708234269086543,-0.4062504788600576],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.420000000000813,"joint_targets_rad":[-1.9772197784887584,-1.6072320949228467,1.4604111711354488,-1.423723851016052,-1.5708233645870855,-0.4064191936635259],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.440000000000819,"joint_targets_rad":[-1.9773884866129003,-1.6077849161138664,1.4653433911971647,-1.4281040657467743,-1.5708232912665983,-0.40658791997318633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.460000000000826,"joint_targets_rad":[-1.977557210230053,-1.6083198182827716,1.4702556091926833,-1.4324822151488399,-1.5708232082646814,-0.4067566598867512],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.480000000000833,"joint_targets_rad":[-1.9777259511255014,-1.6088368251175065,1.4751479768366615,-1.436858424112227,-1.5708231167504134,-0.4069254153874626],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.500000000000839,"joint_targets_rad":[-1.9778947110080398,-1.6093359579877067,1.480020640656031,-1.441232814998511,-1.5708230177619544,-0.4070941883593797],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.520000000000846,"joint_targets_rad":[-1.9780634915213302,-1.6098172359973115,1.4848737422348612,-1.4456055077981165,-1.5708229122217907,-0.40726298060160826],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.540000000000853,"joint_targets_rad":[-1.9782322942547204,-1.6102806760304227,1.4897074184337455,-1.4499766202724274,-1.570822800950066,-0.4074317938415847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.560000000000859,"joint_targets_rad":[-1.97840112075358,-1.6107262927906623,1.4945218015859376,-1.4543462680823596,-1.5708226846762432,-0.4076006297475287],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.580000000000866,"joint_targets_rad":[-1.9785699725291919,-1.6111540988342665,1.4993170196722692,-1.4587145649048678,-1.5708225640493427,-0.40776948994016476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.600000000000873,"joint_targets_rad":[-1.9787388510682582,-1.611564104597064,1.5040931964765385,-1.4630816225386272,-1.570822439646935,-0.4079383760038072],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.620000000000879,"joint_targets_rad":[-1.978907757842089,-1.611956318415455,1.5088504517229377,-1.467447551000076,-1.570822311983062,-0.4081072894969199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.640000000000886,"joint_targets_rad":[-1.9790766943155305,-1.612330746541433,1.5135889011967527,-1.4718124586107821,-1.5708221815152188,-0.40827623196223584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.660000000000893,"joint_targets_rad":[-1.979245661955706,-1.6126873931516246,1.5183086568494693,-1.4761764520770648,-1.5708220486505224,-0.40844520493653813],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.680000000000899,"joint_targets_rad":[-1.9794146622406408,-1.6130262603502605,1.5230098268891554,-1.480539636562656,-1.5708219137511685,-0.40861420996019454],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.700000000000906,"joint_targets_rad":[-1.9795836966678533,-1.6133473481659109,1.5276925158568493,-1.4849021157551099,-1.57082177713926,-0.40878324858653914],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.720000000000913,"joint_targets_rad":[-1.9797527667629822,-1.6136506545417233,1.5323568246894783,-1.4892639919266104,-1.5708216391010954,-0.408952322391202],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.7400000000009195,"joint_targets_rad":[-1.9799218740885536,-1.6139361753188313,1.5370028507696596,-1.493625365989706,-1.570821499890971,-0.40912143298148784],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.760000000000926,"joint_targets_rad":[-1.9800910202529671,-1.6142039042124772,1.5416306879625805,-1.4979863375485214,-1.5708213597345617,-0.40929058200590357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.780000000000933,"joint_targets_rad":[-1.9802602069198183,-1.6144538327802862,1.5462404266399152,-1.5023470049458392,-1.5708212188319264,-0.4094597711639534],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.8000000000009395,"joint_targets_rad":[-1.980429435817655,-1.614685950381986,1.5508321536905991,-1.506707465306493,-1.5708210773601863,-0.40962900221632464],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.820000000000946,"joint_targets_rad":[-1.9805987087503174,-1.6149002441297189,1.555405952518042,-1.5110678145774115,-1.5708209354759066,-0.4097982769955858],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.840000000000953,"joint_targets_rad":[-1.9807680276079775,-1.6150966988278967,1.5599619030231175,-1.5154281475646283,-1.5708207933172202,-0.40996759741756705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.8600000000009596,"joint_targets_rad":[-1.9809373943790647,-1.6152752969013366,1.5645000815720296,-1.51978855796754,-1.570820651005721,-0.41013696549356665],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.880000000000966,"joint_targets_rad":[-1.981106811163253,-1.6154360183101601,1.5690205609478616,-1.5241491384106898,-1.57082050864815,-0.4103063833435992],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.900000000000973,"joint_targets_rad":[-1.9812762801857307,-1.615578840449612,1.5735234102842253,-1.528509980473267,-1.5708203663378966,-0.41047585321088387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.92000000000098,"joint_targets_rad":[-1.9814458038130114,-1.6157037380325852,1.5780086949790724,-1.532871174716566,-1.5708202241563376,-0.4106453774778584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.940000000000986,"joint_targets_rad":[-1.9816153840395603,-1.6158106551442264,1.58247636789426,-1.5372327301608009,-1.5708200820298428,-0.4108149581533447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.960000000000993,"joint_targets_rad":[-1.9817850227931875,-1.6158995584146076,1.5869264662637814,-1.5415947173889637,-1.5708199399987612,-0.41098459717893143],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":7.980000000001,"joint_targets_rad":[-1.9819547226553376,-1.6159704169131541,1.591359046441659,-1.5459572236054206,-1.570819798131003,-0.4111542971471885],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.000000000001005,"joint_targets_rad":[-1.9821244865382683,-1.6160231964545342,1.595774161242844,-1.5503203357533895,-1.5708196564870724,-0.41132406097964186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.020000000000994,"joint_targets_rad":[-1.982294317598835,-1.6160578594451298,1.6001718591517433,-1.554684139879835,-1.5708195151187958,-0.4114938918409388],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.040000000000983,"joint_targets_rad":[-1.982464219263367,-1.6160743646119458,1.6045521840165682,-1.5590487210992752,-1.570819374069956,-0.41166379316381047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.060000000000972,"joint_targets_rad":[-1.9826341952643,-1.6160726666820404,1.6089151747437789,-1.5634141636071828,-1.5708192333769782,-0.4118337686857603],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.080000000000961,"joint_targets_rad":[-1.9828042496835925,-1.6160527160020859,1.6132608649343587,-1.5677805506954259,-1.5708190930695225,-0.4120038224925043],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.10000000000095,"joint_targets_rad":[-1.9829743870039869,-1.616014458084916,1.6175892824456133,-1.5721479647666108,-1.570818953170988,-0.41217395906924814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.120000000000939,"joint_targets_rad":[-1.9831446121699694,-1.6159578330662077,1.6219004488614535,-1.5765164873471649,-1.5708188136989278,-0.412344183361629],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.140000000000928,"joint_targets_rad":[-1.9833149306608453,-1.6158827750495774,1.6261943788494158,-1.5808861990991667,-1.5708186746653674,-0.4125145008487509],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.160000000000917,"joint_targets_rad":[-1.9834853485790853,-1.6157892113118144,1.6304710793760708,-1.585257179830887,-1.5708185360770341,-0.41268491763145526],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.180000000000906,"joint_targets_rad":[-1.9836558727581186,-1.6156770613310232,1.63473054874348,-1.5896295085060252,-1.5708183979354833,-0.412855440540008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.200000000000895,"joint_targets_rad":[-1.9838265108951412,-1.61554623558809,1.6389727753969308,-1.5940032632515415,-1.570818260237112,-0.4130260772667455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.220000000000883,"joint_targets_rad":[-1.9839972717165124,-1.6153966340745387,1.6431977364366857,-1.5983785213639286,-1.5708181229730427,-0.4131968365312528],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.240000000000872,"joint_targets_rad":[-1.9841681651861234,-1.6152281444150953,1.6474053957416273,-1.602755359313687,-1.5708179861288487,-0.41336772828843554],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.260000000000861,"joint_targets_rad":[-1.9843392027712905,-1.6150406394774093,1.6515957015765532,-1.60713385274764,-1.5708178496840888,-0.4135387639940149],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.28000000000085,"joint_targets_rad":[-1.9845103977868837,-1.6148339742882785,1.655768583501422,-1.6115140764884877,-1.5708177136115786,-0.4137099569481057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.30000000000084,"joint_targets_rad":[-1.9846817658477756,-1.6146079819954986,1.6599239483200987,-1.6158961045307128,-1.5708175778763305,-0.4138813227469337],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.320000000000828,"joint_targets_rad":[-1.9848533254743361,-1.6143624684902418,1.6640616746810388,-1.62028001003138,-1.5708174424340178,-0.4140528798872973],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.340000000000817,"joint_targets_rad":[-1.9850250989191076,-1.614097205107335,1.6681816057434011,-1.6246658652935124,-1.5708173072287703,-0.41422465059181324],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.360000000000806,"joint_targets_rad":[-1.9851971133215582,-1.6138119184970212,1.6722835389957957,-1.6290537417381443,-1.5708171721899873,-0.41439666196161196],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.380000000000795,"joint_targets_rad":[-1.9853694023641086,-1.613506276212121,1.6763672117608788,-1.63344370985836,-1.5708170372276529,-0.41456894762935315],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.400000000000784,"joint_targets_rad":[-1.9855025598149594,-1.6132182890410451,1.679462463886243,-1.6368322240623217,-1.5708164565692373,-0.41470219208777065],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.420000000000773,"joint_targets_rad":[-1.9855043873234957,-1.6130632014430464,1.6793320276416477,-1.6368770815053197,-1.5708144736320975,-0.4147044011284732],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.440000000000762,"joint_targets_rad":[-1.9855060113155583,-1.6129351622771215,1.6792259324397643,-1.6369172874958482,-1.5708127658389113,-0.41470637262192134],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.46000000000075,"joint_targets_rad":[-1.9855074864498072,-1.6128317095337636,1.6791417596898772,-1.6369530075397782,-1.5708112137789019,-0.41470816232560226],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.48000000000074,"joint_targets_rad":[-1.9855088292130048,-1.612748368374383,1.6790753181617113,-1.6369847181304436,-1.5708097991899772,-0.4147097897622323],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.500000000000728,"joint_targets_rad":[-1.9855100507308883,-1.6126813511870761,1.6790230957797752,-1.6370128634061676,-1.5708085119686999,-0.4147112688785179],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.520000000000717,"joint_targets_rad":[-1.985511161110677,-1.6126275645596289,1.6789822535627728,-1.6370378474148404,-1.5708073425869453,-0.41471261234867635],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.540000000000706,"joint_targets_rad":[-1.98551216976746,-1.6125844908819449,1.6789505041803285,-1.6370600336197532,-1.570806281748641,-0.41471383191661704],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.560000000000695,"joint_targets_rad":[-1.985513085459363,-1.612550082750079,1.6789260059066187,-1.6370797464791795,-1.570805320501068,-0.4147149384512486],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.580000000000684,"joint_targets_rad":[-1.9855139163073228,-1.6125226760997386,1.6789072766208881,-1.637097274040931,-1.5708044503321916,-0.41471594198549566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.600000000000673,"joint_targets_rad":[-1.985514669818378,-1.6125009192467468,1.6788931244426075,-1.6371128710242948,-1.5708036632315177,-0.4147168517574609],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.620000000000662,"joint_targets_rad":[-1.9855153529127338,-1.6124837149677587,1.6788825917660533,-1.637126762061125,-1.570802951721953,-0.41471767625400735],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.64000000000065,"joint_targets_rad":[-1.985515971953639,-1.612470173238119,1.67887491007599,-1.6371391448924528,-1.5708023088702285,-0.4147184232558233],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.66000000000064,"joint_targets_rad":[-1.9855165327791,-1.6124595726763258,1.6788694634479677,-1.6371501934004264,-1.570801728281872,-0.4147190998830736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.680000000000629,"joint_targets_rad":[-1.9855170407345797,-1.612451329100266,1.6788657590524185,-1.6371600604107681,-1.5708012040853603,-0.41471971264082624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.700000000000617,"joint_targets_rad":[-1.9855175007059338,-1.6124449698913512,1.6788634033124696,-1.6371688802370403,-1.5708007309089895,-0.4147202674636052],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.720000000000606,"joint_targets_rad":[-1.9855179171520065,-1.6124401131006265,1.6788620826291643,-1.637176770960928,-1.5708003038531422,-0.41472076975854066],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.740000000000595,"joint_targets_rad":[-1.9855182941364184,-1.6124364504255915,1.6788615477988693,-1.6371838364567641,-1.5707999184599664,-0.4147212244467585],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.760000000000584,"joint_targets_rad":[-1.985518635358197,-1.6124337333457266,1.6788616014168265,-1.6371901681765275,-1.5707995706819324,-0.414721636002707],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.780000000000573,"joint_targets_rad":[-1.985518944181011,-1.6124317618349462,1.6788620876967044,-1.6371958467156331,-1.5707992568503417,-0.4147220084912705],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.800000000000562,"joint_targets_rad":[-1.98551922366083,-1.6124303751757791,1.6788628842454056,-1.6372009431813381,-1.5707989736445394,-0.41472234560257],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.820000000000551,"joint_targets_rad":[-1.98551947657193,-1.6124294444871698,1.6788638954204704,-1.6372055203855274,-1.5707987180623417,-0.41472265068441194],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.84000000000054,"joint_targets_rad":[-1.9855197054311837,-1.612428866649051,1.6788650469685718,-1.6372096338826094,-1.5707984873920127,-0.4147229267724178],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.860000000000529,"joint_targets_rad":[-1.9855199125206533,-1.6124285593650676,1.6788662817009776,-1.63721333287169,-1.570798279185981,-0.4147231766178775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.880000000000518,"joint_targets_rad":[-1.9855200999084968,-1.6124284571523848,1.6788675560082917,-1.6372166609804195,-1.570798091236392,-0.41472340271342906],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.900000000000507,"joint_targets_rad":[-1.9855202694682592,-1.6124285080864376,1.6788688370543465,-1.6372196569460282,-1.5707979215525225,-0.41472360731663616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.920000000000496,"joint_targets_rad":[-1.9855204228966095,-1.6124286711601767,1.678870100519494,-1.6372223552072853,-1.5707977683400218,-0.414723792471616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.940000000000484,"joint_targets_rad":[-1.9855205617296057,-1.6124289141433492,1.6788713287881691,-1.6372247864193807,-1.570797629981919,-0.414723960028812],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.960000000000473,"joint_targets_rad":[-1.9855206873575775,-1.6124292118484607,1.6788725094955403,-1.63722697790222,-1.5707975050213074,-0.4147241116630403],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":8.980000000000462,"joint_targets_rad":[-1.9855208010387186,-1.6124295447274,1.6788736343642223,-1.6372289540311948,-1.5707973921456058,-0.41472424888994514],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.000000000000451,"joint_targets_rad":[-1.9855209039114734,-1.612429897736748,1.6788746982751352,-1.6372307365782808,-1.570797290172286,-0.41472437308097115],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.02000000000044,"joint_targets_rad":[-1.9855209970058179,-1.6124302594213236,1.6788756985272002,-1.6372323450102049,-1.5707971980359579,-0.4147244854769775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.040000000000429,"joint_targets_rad":[-1.9855210812535125,-1.6124306211749009,1.6788766342492087,-1.637233796749502,-1.5707971147767017,-0.4147245872006007],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.060000000000418,"joint_targets_rad":[-1.9855211574974143,-1.6124309766446376,1.6788775059341559,-1.6372351074034606,-1.5707970395295379,-0.41472467926747564],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.080000000000407,"joint_targets_rad":[-1.985521226499929,-1.6124313212520363,1.6788783150720126,-1.6372362909652212,-1.5707969715149388,-0.4147247625964069],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.100000000000396,"joint_targets_rad":[-1.985521288950672,-1.6124316518083026,1.6788790638615028,-1.6372373599907364,-1.5707969100302808,-0.4147248380185953],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.120000000000385,"joint_targets_rad":[-1.985521345473414,-1.6124319662061255,1.6788797549851855,-1.6372383257547412,-1.570796854442155,-0.4147249062859837],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.140000000000374,"joint_targets_rad":[-1.9855213966323673,-1.612432263173249,1.678880391435131,-1.6372391983884473,-1.5707968041794464,-0.4147249680788208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.160000000000363,"joint_targets_rad":[-1.9855214429378802,-1.6124325420759822,1.6788809763789796,-1.6372399870013121,-1.5707967587271126,-0.4147250240125098],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.180000000000351,"joint_targets_rad":[-1.9855214848515894,-1.6124328027629973,1.678881513058104,-1.637240699788884,-1.5707967176205886,-0.41472507464379743],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.20000000000034,"joint_targets_rad":[-1.9855215227910794,-1.6124330454416047,1.6788820047112376,-1.637241344128471,-1.5707966804407607,-0.4147251204763838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.22000000000033,"joint_targets_rad":[-1.9855215571341005,-1.6124332705801578,1.678882454518211,-1.6372419266641218,-1.570796646809444,-0.4147251619659838],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.240000000000318,"joint_targets_rad":[-1.985521588222379,-1.6124334788314616,1.6788828655595145,-1.6372424533822305,-1.5707966163853218,-0.41472519952491776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.260000000000307,"joint_targets_rad":[-1.985521616513652,-1.6124336710930744,1.6788832406188832,-1.6372429291585742,-1.570796588508814,-0.4147252336575012],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.280000000000296,"joint_targets_rad":[-1.9855216427501854,-1.6124338492035846,1.6788835829850295,-1.6372433585095592,-1.5707965620216227,-0.41472526529112713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.300000000000285,"joint_targets_rad":[-1.9855216664791575,-1.612434013460433,1.6788838949107612,-1.6372437461705076,-1.5707965378967892,-0.4147252936845549],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.320000000000274,"joint_targets_rad":[-1.985521688058039,-1.6124341647592668,1.6788841793798375,-1.6372440971052413,-1.57079651588926,-0.41472531948301855],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.340000000000263,"joint_targets_rad":[-1.98552170674247,-1.6124343013305,1.6788844383747354,-1.6372444171603255,-1.5707964978443438,-0.41472534211963197],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.360000000000252,"joint_targets_rad":[-1.985521723647061,-1.6124344250374778,1.678884672499314,-1.6372447053247032,-1.5707964816210036,-0.41472536260856485],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.38000000000024,"joint_targets_rad":[-1.9855217389664206,-1.612434538130486,1.678884885356014,-1.6372449658903119,-1.5707964669156516,-0.41472538117202445],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.40000000000023,"joint_targets_rad":[-1.9855217528019575,-1.6124346417565387,1.6788850795386037,-1.6372452028560285,-1.5707964536344718,-0.41472539794809526],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.420000000000218,"joint_targets_rad":[-1.9855217653023767,-1.612434740121602,1.6788852631132132,-1.637245428983887,-1.5707964414551543,-0.41472541311025557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.440000000000207,"joint_targets_rad":[-1.985521776671915,-1.6124348337879642,1.6788854358118905,-1.6372456420960866,-1.570796430377625,-0.41472542689222686],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.460000000000196,"joint_targets_rad":[-1.985521786941037,-1.6124349192225036,1.6788855925573498,-1.637245835280574,-1.5707964204002338,-0.4147254393428476],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.480000000000185,"joint_targets_rad":[-1.9855217962289051,-1.6124349967761262,1.6788857343910149,-1.637246009951282,-1.5707964114017279,-0.41472545060436933],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.500000000000174,"joint_targets_rad":[-1.9855218046312844,-1.612435067131795,1.6788858627017123,-1.6372461678621748,-1.5707964032824606,-0.41472546079257583],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.520000000000163,"joint_targets_rad":[-1.9855218122333769,-1.6124351309415328,1.678885978779093,-1.6372463106311823,-1.5707963959540627,-0.4147254700106588],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.540000000000152,"joint_targets_rad":[-1.9855218191119839,-1.61243518880287,1.678886083792007,-1.6372464397207371,-1.5707963893374925,-0.4147254783516619],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.56000000000014,"joint_targets_rad":[-1.9855218253364313,-1.6124352412610494,1.6788861787975538,-1.6372465564505758,-1.5707963833619443,-0.41472548589958286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.58000000000013,"joint_targets_rad":[-1.985521830969321,-1.6124352888130313,1.6788862647515492,-1.637246662011647,-1.5707963779639347,-0.41472549273027876],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.600000000000119,"joint_targets_rad":[-1.985521836067196,-1.6124353319114253,1.6788863425182017,-1.6372467574788445,-1.570796373086501,-0.41472549891227245],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.620000000000108,"joint_targets_rad":[-1.9855218406811395,-1.6124353709681827,1.6788864128789094,-1.6372468438225032,-1.5707963686784925,-0.41472550450747564],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.640000000000096,"joint_targets_rad":[-1.9855218448573102,-1.6124354063580495,1.6788864765402298,-1.6372469219187418,-1.5707963646939458,-0.41472550957183835],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.660000000000085,"joint_targets_rad":[-1.985521848625616,-1.6124354389655142,1.6788865349322994,-1.6372469939499525,-1.5707963610954758,-0.41472551414424547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.680000000000074,"joint_targets_rad":[-1.9855218520423141,-1.6124354688260636,1.678886588118019,-1.6372470594849977,-1.5707963578396684,-0.4147255182888309],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.700000000000063,"joint_targets_rad":[-1.9855218551346194,-1.6124354957772256,1.678886636087036,-1.6372471185126656,-1.5707963548965482,-0.4147255220399814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.720000000000052,"joint_targets_rad":[-1.9855218579347929,-1.6124355200656042,1.6788866793195296,-1.6372471716489572,-1.5707963522347739,-0.41472552543653896],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.740000000000041,"joint_targets_rad":[-1.985521860470668,-1.612435541953935,1.6788867182909561,-1.637247219495831,-1.570796349826863,-0.41472552851227845],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.76000000000003,"joint_targets_rad":[-1.9855218627672657,-1.612435561683214,1.6788867534318725,-1.6372472625962402,-1.570796347648186,-0.4147255312975916],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.780000000000019,"joint_targets_rad":[-1.9855218648472022,-1.612435579470722,1.6788867851284084,-1.6372473014357094,-1.5707963456766043,-0.41472553381995186],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.800000000000008,"joint_targets_rad":[-1.985521866730938,-1.6124355955117167,1.6788868137264705,-1.6372473364480584,-1.5707963438921926,-0.41472553610421226],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.819999999999997,"joint_targets_rad":[-1.9855218684369917,-1.61243560998148,1.6788868395359873,-1.637247368021037,-1.5707963422769975,-0.4147255381728666],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.839999999999986,"joint_targets_rad":[-1.9855218699821267,-1.6124356230372834,1.678886862834763,-1.6372473965014225,-1.5707963408148338,-0.41472554004627254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.859999999999975,"joint_targets_rad":[-1.9855218713815201,-1.6124356348202296,1.6788868838719546,-1.6372474221995683,-1.5707963394910964,-0.4147255417428629],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.879999999999963,"joint_targets_rad":[-1.9855218726489159,-1.6124356454569306,1.6788869028711564,-1.6372474453934347,-1.5707963382925998,-0.41472554327932487],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.899999999999952,"joint_targets_rad":[-1.9855218737967604,-1.6124356550610301,1.6788869200331538,-1.6372474663321648,-1.5707963372074334,-0.4147255446707694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.919999999999941,"joint_targets_rad":[-1.9855218748363246,-1.6124356637345725,1.6788869355383587,-1.6372474852392305,-1.5707963362248338,-0.41472554593088057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.93999999999993,"joint_targets_rad":[-1.985521875777819,-1.6124356715692283,1.6788869495489789,-1.637247502315228,-1.5707963353350722,-0.4147255470720511],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.95999999999992,"joint_targets_rad":[-1.9855218766304892,-1.6124356786473877,1.6788869622109326,-1.6372475177403372,-1.5707963345293499,-0.4147255481055026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.979999999999908,"joint_targets_rad":[-1.985534561739306,-1.6154171399031605,1.635843006345343,-1.5914288795190186,-1.5707821997123481,-0.41473820421908947],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":9.999999999999897,"joint_targets_rad":[-1.9855348525851528,-1.6155179150974492,1.634691520173747,-1.590175634778039,-1.5707822533125735,-0.41473849686103265],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.019999999999886,"joint_targets_rad":[-1.9855399088018926,-1.6155761845154748,1.6310280322471964,-1.5864533654454493,-1.5707822295852418,-0.4147435433098818],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.039999999999875,"joint_targets_rad":[-1.9855440405541773,-1.6156408112916525,1.626754762747582,-1.582116206521009,-1.5707820885569144,-0.4147476689170791],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.059999999999864,"joint_targets_rad":[-1.9855438216686163,-1.6156878359778097,1.6224446277445506,-1.577759928193897,-1.5707819277810722,-0.4147474543947162],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.079999999999853,"joint_targets_rad":[-1.9855434277265946,-1.6157171041707141,1.6181168928065033,-1.5734037897370663,-1.5707817687474113,-0.41474706488457885],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.099999999999842,"joint_targets_rad":[-1.9855430464195,-1.6157286256564192,1.6137726309878344,-1.569048849209309,-1.5707816121984446,-0.41474668759361694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.11999999999983,"joint_targets_rad":[-1.9855426870373445,-1.615722416042764,1.6094118304942853,-1.5646950817012444,-1.5707814578506036,-0.41474633182174364],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.13999999999982,"joint_targets_rad":[-1.985542348888059,-1.6156984897206135,1.605034420068147,-1.560342404220467,-1.5707813053979878,-0.41474599691161035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.159999999999808,"joint_targets_rad":[-1.9855420308387248,-1.6156568593973206,1.600640323556779,-1.555990730340489,-1.5707811545630053,-0.4147456817637877],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.179999999999797,"joint_targets_rad":[-1.9855417318216289,-1.6155975361092232,1.5962294628574405,-1.5516399731346489,-1.5707810050956275,-0.41474538534150923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.199999999999786,"joint_targets_rad":[-1.9855414508534064,-1.6155205292478694,1.5918017580156922,-1.547290045268903,-1.5707808567703099,-0.4147451066898711],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.219999999999775,"joint_targets_rad":[-1.9855411870280448,-1.6154258465822777,1.5873571271711575,-1.5429408589449978,-1.570780709383159,-0.41474484492896363],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.239999999999764,"joint_targets_rad":[-1.9855409395091492,-1.6153134942764604,1.5828954864982487,-1.538592325841499,-1.570780562749451,-0.41474459924628526],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.259999999999753,"joint_targets_rad":[-1.9855407075228069,-1.6151834769023619,1.5784167501491646,-1.5342443570599567,-1.5707804167014492,-0.41474436888975774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.279999999999742,"joint_targets_rad":[-1.985540490351072,-1.6150357974483993,1.573920830198776,-1.5298968630757979,-1.570780271086481,-0.4147441531613543],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.29999999999973,"joint_targets_rad":[-1.9855402873260115,-1.614870457323768,1.569407636590684,-1.525549753693231,-1.570780125765244,-0.4147439514112919],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.31999999999972,"joint_targets_rad":[-1.9855400973648998,-1.614687489384806,1.5648771831550596,-1.5212030107039687,-1.5707799806380167,-0.4147437625740387],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.339999999999709,"joint_targets_rad":[-1.9855399202359185,-1.6144869013525882,1.5603294094838738,-1.5168565669550633,-1.570779835595603,-0.4147435864317553],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.359999999999697,"joint_targets_rad":[-1.9855397555508143,-1.6142686895542546,1.5557642196531694,-1.5125103312079549,-1.5707796905277314,-0.41474342260943997],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.379999999999686,"joint_targets_rad":[-1.9855396027834784,-1.6140328488998466,1.551181515050021,-1.5081642108756788,-1.5707795453320947,-0.4147432705934114],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.399999999999675,"joint_targets_rad":[-1.9855394614293647,-1.6137793726495056,1.546581194609225,-1.5038181124957408,-1.5707793999140311,-0.4147431298904095],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.419999999999664,"joint_targets_rad":[-1.9855393310083305,-1.6135082523973385,1.5419631548068677,-1.4994719417470197,-1.5707792541856973,-0.4147430000305239],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.439999999999653,"joint_targets_rad":[-1.9855392110616201,-1.6132194780485314,1.5373272896024246,-1.495125603421565,-1.5707791080652915,-0.41474288056426606],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.459999999999642,"joint_targets_rad":[-1.9855391011486747,-1.6129130377928487,1.5326734903765231,-1.4907790013950477,-1.5707789614763592,-0.41474277105947444],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.479999999999631,"joint_targets_rad":[-1.9855390008441243,-1.6125889180743214,1.5280016458659837,-1.4864320385977254,-1.570778814347166,-0.41474267109837754],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.49999999999962,"joint_targets_rad":[-1.985538909734965,-1.61224710355705,1.52331164209597,-1.4820846169858817,-1.5707786666101355,-0.4147425802748547],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.519999999999609,"joint_targets_rad":[-1.985538827417894,-1.6118875770870116,1.5186033623089255,-1.4777366375135783,-1.570778518201338,-0.41474249819183245],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.539999999999598,"joint_targets_rad":[-1.9855387534967763,-1.6115103196497045,1.5138766868899458,-1.4733880001045858,-1.570778369060033,-0.41474242445881887],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.559999999999587,"joint_targets_rad":[-1.9855386875802195,-1.6111153103234424,1.5091314932882374,-1.4690386036243681,-1.5707782191282507,-0.41474235868953113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.579999999999576,"joint_targets_rad":[-1.9855386292792292,-1.6107025262280446,1.504367655934241,-1.4646883458520001,-1.5707780683504138,-0.4147423004996097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.599999999999564,"joint_targets_rad":[-1.9855385782049324,-1.6102719424686138,1.4995850461519935,-1.4603371234519225,-1.5707779166729892,-0.41474224950437993],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.619999999999553,"joint_targets_rad":[-1.9855385339663292,-1.6098235320740404,1.4947835320662348,-1.4559848319454516,-1.5707777640441751,-0.41474220531666117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.639999999999542,"joint_targets_rad":[-1.9855384961680698,-1.6093572659297797,1.4899629785036896,-1.4516313656819344,-1.570777610413606,-0.4147421675445685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.659999999999531,"joint_targets_rad":[-1.9855384644082166,-1.608873112704399,1.4851232468879358,-1.4472766178095111,-1.570777455732087,-0.4147421357893237],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.67999999999952,"joint_targets_rad":[-1.9855384382759744,-1.6083710387692576,1.480264195127111,-1.4429204802453806,-1.5707772999513427,-0.4147421096430138],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.699999999999509,"joint_targets_rad":[-1.985538417349361,-1.6078510081106017,1.4753856774936613,-1.43856284364553,-1.5707771430237851,-0.4147420886862887],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.719999999999498,"joint_targets_rad":[-1.985538401192797,-1.6073129822332077,1.4704875444952035,-1.434203597373867,-1.5707769849022948,-0.4147420724859886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.739999999999487,"joint_targets_rad":[-1.98553838935457,-1.6067569200545635,1.465569642735386,-1.4298426294706932,-1.570776825540014,-0.4147420605926243],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.759999999999476,"joint_targets_rad":[-1.9855383813641574,-1.6061827777883784,1.460631814763513,-1.4254798266204824,-1.5707766648901478,-0.4147420525377301],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.779999999999465,"joint_targets_rad":[-1.9855383767293604,-1.605590508816013,1.4556738989114404,-1.4211150741189358,-1.570776502905773,-0.4147420478310171],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.799999999999454,"joint_targets_rad":[-1.9855383749332083,-1.6049800635441185,1.4506957291159914,-1.4167482558392408,-1.5707763395396528,-0.41474204595729713],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.819999999999443,"joint_targets_rad":[-1.9855383754305915,-1.6043513892464916,1.4456971347248562,-1.4123792541975608,-1.570776174744051,-0.41474204637313833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.839999999999431,"joint_targets_rad":[-1.9855383776445572,-1.6037044298877159,1.4406779402835095,-1.4080079501176896,-1.5707760084705482,-0.41474204850317886],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.85999999999942,"joint_targets_rad":[-1.9855383809622205,-1.6030391259256889,1.4356379653002171,-1.4036342229948873,-1.5707758406698547,-0.41474205173605017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.87999999999941,"joint_targets_rad":[-1.9855383847301926,-1.6023554140895373,1.4305770239856317,-1.3992579506589033,-1.5707756712916163,-0.4147420554198295],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.899999999999398,"joint_targets_rad":[-1.9855383882494602,-1.6016532271286337,1.4254949249626678,-1.3948790093361774,-1.570775500284215,-0.4147420588569308],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.919999999999387,"joint_targets_rad":[-1.9855383907695867,-1.6009324935275162,1.4203914709415053,-1.3904972736112955,-1.5707753275945515,-0.41474206129832675],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.939999999999376,"joint_targets_rad":[-1.9855383914821243,-1.600193137180283,1.415266458353307,-1.3861126163877344,-1.5707751531678156,-0.4147420619369707],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.959999999999365,"joint_targets_rad":[-1.9855383895130645,-1.5994350770165018,1.4101196769347843,-1.381724908848006,-1.5707749769472332,-0.4147420599002729],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.979999999999354,"joint_targets_rad":[-1.9855383839141432,-1.5986582265687033,1.4049509092537698,-1.3773340204133377,-1.570774798873781,-0.4147420542414197],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":10.999999999999343,"joint_targets_rad":[-1.9855383736527552,-1.5978624934689534,1.399759930163467,-1.3729398187030932,-1.5707746188858718,-0.41474204392930764],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.019999999999332,"joint_targets_rad":[-1.9855383576001908,-1.5970477788586288,1.3945465061697322,-1.368542169494209,-1.5707744369189849,-0.4147420278368044],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.03999999999932,"joint_targets_rad":[-1.9855383345178093,-1.5962139766910581,1.3893103946913836,-1.3641409366810449,-1.5707742529052462,-0.41474200472694356],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.05999999999931,"joint_targets_rad":[-1.9855383030406941,-1.5953609729007003,1.3840513431876658,-1.3597359822361714,-1.570774066772924,-0.4147419732366113],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.079999999999298,"joint_targets_rad":[-1.9855382616581758,-1.594488644404423,1.3787690881190897,-1.3553271661728612,-1.5707738784458347,-0.41474193185709823],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.099999999999287,"joint_targets_rad":[-1.985538208690463,-1.5935968578893,1.3734633536969794,-1.3509143465103126,-1.5707736878426182,-0.41474187891077174],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.119999999999276,"joint_targets_rad":[-1.9855381422603644,-1.5926854683257838,1.3681338503618683,-1.3464973792430734,-1.570773494875852,-0.41474181252284326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.139999999999265,"joint_targets_rad":[-1.9855380602587958,-1.59175431712316,1.362780272909481,-1.342076118316727,-1.5707732994509465,-0.4147417305869283],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.159999999999254,"joint_targets_rad":[-1.985537960302306,-1.5908032298125243,1.357402298152183,-1.3376504156128153,-1.5707731014647481,-0.4147416307226463],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.179999999999243,"joint_targets_rad":[-1.9855378396802772,-1.5898320130961454,1.3519995819586068,-1.333220120947304,-1.5707729008037519,-0.4147415102229015],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.199999999999232,"joint_targets_rad":[-1.9855376952885857,-1.588840451032668,1.3465717554466143,-1.3287850820889697,-1.5707726973417635,-0.41474136598765776],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.21999999999922,"joint_targets_rad":[-1.9855375235453132,-1.5878283000212987,1.3411184200013255,-1.3243451448072792,-1.5707724909367995,-0.4147411944397852],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.23999999999921,"joint_targets_rad":[-1.9855373202823292,-1.5867952820812,1.3356391406277557,-1.3199001529645875,-1.5707722814268852,-0.4147409914168277],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.259999999999199,"joint_targets_rad":[-1.98553708060403,-1.5857410756523744,1.3301334368853615,-1.3154499486759608,-1.5707720686242315,-0.4147407520299775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.279999999999188,"joint_targets_rad":[-1.9855367987007095,-1.5846653026934312,1.3246007702142424,-1.3109943725747153,-1.5707718523069725,-0.41474047047777535],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.299999999999176,"joint_targets_rad":[-1.9855364675984937,-1.5835675100694826,1.319040525704209,-1.3065332642477403,-1.5707716322070866,-0.4147401397964691],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.319999999999165,"joint_targets_rad":[-1.9855344090317915,-1.583274322130859,1.3182751066044645,-1.3060397731187339,-1.5707735259563358,-0.41473808609272755],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.339999999999154,"joint_targets_rad":[-1.985532319728057,-1.5830936160092361,1.3180372778959308,-1.305960754497047,-1.5707755007587187,-0.4147360021861988],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.359999999999143,"joint_targets_rad":[-1.9855303962748785,-1.5829430923479457,1.3178375193238132,-1.3058915162439315,-1.570777319452926,-0.4147340832906487],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.379999999999132,"joint_targets_rad":[-1.9855286281276903,-1.5828179572500876,1.3176700292671506,-1.305830898603849,-1.5707789917320176,-0.4147323188071152],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.399999999999121,"joint_targets_rad":[-1.9855270050709262,-1.5827138346302794,1.3175294942795786,-1.3057778240586826,-1.5707805271114563,-0.4147306986120926],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.41999999999911,"joint_targets_rad":[-1.985525517154672,-1.5826270841195287,1.3174114475654684,-1.3057313362388665,-1.570781934907027,-0.4147292128575234],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.439999999999099,"joint_targets_rad":[-1.9855241547380809,-1.582554703418479,1.317312164861485,-1.305690592125963,-1.5707832241653805,-0.41472785199955986],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.459999999999088,"joint_targets_rad":[-1.985522908559396,-1.5824942183846817,1.3172285452649266,-1.3056548523853504,-1.5707844035917917,-0.4147266068656808],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.479999999999077,"joint_targets_rad":[-1.9855217697880703,-1.5824435896436435,1.3171580079709795,-1.305623471145354,-1.5707854814972046,-0.4147254687059873],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.499999999999066,"joint_targets_rad":[-1.9855207300584068,-1.5824011355134096,1.3170984054341484,-1.3055958858640337,-1.5707864657634871,-0.41472442922670744],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.519999999999055,"joint_targets_rad":[-1.9855197814880494,-1.5823654686126365,1.3170479507031028,-1.3055716076632347,-1.570787363823553,-0.414723480608932],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.539999999999043,"joint_targets_rad":[-1.9855189166845193,-1.582335443741172,1.317005156728163,-1.305550212348558,-1.5707881826532588,-0.41472261551562517],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.559999999999032,"joint_targets_rad":[-1.9855181287425059,-1.582310115028485,1.3169687857383026,-1.3055313322248439,-1.570788928772437,-0.41472182708951055],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.579999999999021,"joint_targets_rad":[-1.9855174112341367,-1.5822887007009914,1.3169378070682876,-1.3055146487434517,-1.5707896082529045,-0.4147211089440151],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.59999999999901,"joint_targets_rad":[-1.9855167581940538,-1.5822705541130113,1.3169113620636352,-1.3054998859697489,-1.5707902267316465,-0.4147204551490312],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.619999999999,"joint_targets_rad":[-1.985516164100785,-1.5822551399271907,1.3168887349036842,-1.305486804829545,-1.570790789427727,-0.4147198602129582],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.639999999998988,"joint_targets_rad":[-1.9855156238555907,-1.5822420145282177,1.3168693283651407,-1.3054751980762844,-1.5707913011617596,-0.41471931906219445],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.659999999998977,"joint_targets_rad":[-1.9855151327597436,-1.5822308099163929,1.3168526437038532,-1.305464885912584,-1.5707917663769935,-0.4147188270190116],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.679999999998966,"joint_targets_rad":[-1.9855146864909825,-1.5822212204614725,1.316838263964857,-1.3054557121974109,-1.5707921891612895,-0.4147183797785532],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.699999999998955,"joint_targets_rad":[-1.9855142810797237,-1.58221299200728,1.316825840142836,-1.3054475411716076,-1.5707925732694046,-0.4147179733855409],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.719999999998944,"joint_targets_rad":[-1.985513912885469,-1.5822059129082118,1.3168150797100648,-1.30544025463825,-1.5707929221451498,-0.41471760421112014],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.739999999998933,"joint_targets_rad":[-1.9855135785737494,-1.582199806653276,1.316805737108817,-1.3054337495393378,-1.5707932389430894,-0.4147172689301931],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.759999999998922,"joint_targets_rad":[-1.9855132750938371,-1.5821945257946763,1.316797605872553,-1.305427935875947,-1.5707935265495445,-0.41471696449947343],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.77999999999891,"joint_targets_rad":[-1.9855129996574095,-1.5821899469483656,1.3167905120966195,-1.3054227349247438,-1.5707937876027227,-0.41471668813644635],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.7999999999989,"joint_targets_rad":[-1.9855127497182614,-1.5821859666755262,1.3167843090264597,-1.3054180777092843,-1.5707940245118703,-0.4147164372993421],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.819999999998888,"joint_targets_rad":[-1.9855125229531494,-1.5821824980880148,1.3167788725707958,-1.305413903689807,-1.570794239475372,-0.41471620966820144],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.839999999998877,"joint_targets_rad":[-1.9855123172437885,-1.5821794680488888,1.3167740975801987,-1.3054101596399743,-1.5707944344977587,-0.41471600312706586],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.859999999998866,"joint_targets_rad":[-1.9855121306600134,-1.58217681486214,1.3167698947588462,-1.3054067986833537,-1.5707946114056313,-0.4147158157473027],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.879999999998855,"joint_targets_rad":[-1.9855119614440855,-1.5821744863647118,1.3167661881000452,-1.3054037794662192,-1.5707947718624935,-0.4147156457720566],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.899999999998844,"joint_targets_rad":[-1.9855118079961196,-1.5821724383494253,1.3167629127550529,-1.305401065446653,-1.5707949173825364,-0.41471549160178683],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.919999999998833,"joint_targets_rad":[-1.985511668860582,-1.582170633260192,1.3167600132603612,-1.3053986242828128,-1.5707950493434046,-0.41471535178087804],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.939999999998822,"joint_targets_rad":[-1.9855115427138221,-1.5821690391113927,1.316757442061646,-1.3053964273057785,-1.570795168997989,-0.41471522498524904],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.95999999999881,"joint_targets_rad":[-1.9855114283525737,-1.5821676285918744,1.3167551582832833,-1.3053944490645646,-1.5707952774853022,-0.4147151100109299],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.9799999999988,"joint_targets_rad":[-1.9855113246833742,-1.582166378321112,1.3167531267012826,-1.305392666932748,-1.570795375840483,-0.4147150057635424],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":11.999999999998789,"joint_targets_rad":[-1.9855112307128502,-1.5821652682308556,1.3167513168847778,-1.3053910607677504,-1.5707954650039877,-0.41471491124863474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.019999999998777,"joint_targets_rad":[-1.9855111455388001,-1.5821642810503331,1.316749702477309,-1.3053896126151712,-1.570795545830019,-0.4147148255628054],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.039999999998766,"joint_targets_rad":[-1.9855110683420312,-1.5821634018770003,1.3167482605941387,-1.3053883064517178,-1.5707956190942496,-0.4147147478855788],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.059999999998755,"joint_targets_rad":[-1.985510998378886,-1.5821626178180075,1.3167469713159465,-1.305387127961243,-1.5707956855008867,-0.4147146774719587],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.079999999998744,"joint_targets_rad":[-1.9855109349744144,-1.5821619176902038,1.316745817262703,-1.3053860643392499,-1.5707957456891308,-0.41471461364562384],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.099999999998733,"joint_targets_rad":[-1.9855108775161359,-1.5821612917686285,1.3167447832342793,-1.3053851041218896,-1.570795800239073,-0.41471455579270977],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.119999999998722,"joint_targets_rad":[-1.9855108254483502,-1.5821607315752388,1.3167438559067153,-1.3053842370361002,-1.570795849677078,-0.4147145033561359],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.139999999998711,"joint_targets_rad":[-1.9855107782669468,-1.5821602297010462,1.3167430235749396,-1.3053834538680034,-1.570795894480689,-0.4147144558304263],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.1599999999987,"joint_targets_rad":[-1.9855107355146773,-1.5821597796560625,1.3167422759343546,-1.305382746347127,-1.5707959350831011,-0.4147144127569955],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.179999999998689,"joint_targets_rad":[-1.9855106967768488,-1.5821593757423904,1.3167416038949478,-1.3053821070443479,-1.5707959718772317,-0.41471437371984426],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.199999999998678,"joint_targets_rad":[-1.9855106616774052,-1.582159012946658,1.3167409994227228,-1.3053815292817734,-1.5707960052194285,-0.4147143383416515],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.219999999998667,"joint_targets_rad":[-1.9855106298753613,-1.5821586868485984,1.3167404554040751,-1.3053810070530307,-1.5707960354328414,-0.4147143062802104],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.239999999998656,"joint_targets_rad":[-1.9855106010615586,-1.5821583935431671,1.3167399655295087,-1.3053805349526364,-1.570796062810489,-0.41471427722518883],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.259999999998644,"joint_targets_rad":[-1.9855105749557194,-1.5821581295740235,1.316739524193683,-1.3053801081133225,-1.5707960876180478,-0.414714250895184],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.279999999998633,"joint_targets_rad":[-1.9855105513037656,-1.5821578918765564,1.3167391264092578,-1.3053797221503265,-1.5707961100963859,-0.4147142270350437],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.299999999998622,"joint_targets_rad":[-1.9855105298753866,-1.5821576777289632,1.3167387677324531,-1.305379373111818,-1.5707961304638647,-0.41471420541343557],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.319999999998611,"joint_targets_rad":[-1.9855105104618278,-1.582157484710138,1.3167384441985717,-1.3053790574347097,-1.5707961489184317,-0.41471418582063097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.3399999999986,"joint_targets_rad":[-1.9855104928738834,-1.582157310663307,1.3167381522659858,-1.3053787719052357,-1.5707961656395164,-0.4147141680665049],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.359999999998589,"joint_targets_rad":[-1.9855104769400758,-1.5821571536645673,1.316737888767395,-1.305378513623728,-1.5707961807897584,-0.4147141519787064],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.379999999998578,"joint_targets_rad":[-1.9855104625049986,-1.582157011995574,1.3167376508672541,-1.3053782799731115,-1.5707961945165685,-0.414714137401008],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.399999999998567,"joint_targets_rad":[-1.9855104494278206,-1.5821568841197893,1.3167374360245625,-1.3053780685907084,-1.570796206953551,-0.41471412419179954],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.419999999998556,"joint_targets_rad":[-1.9855104375809187,-1.582156768661756,1.3167372419602144,-1.305377877342964,-1.5707962182217925,-0.41471411222272964],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.439999999998545,"joint_targets_rad":[-1.9855104268486459,-1.5821566643889897,1.3167370666283227,-1.3053777043027819,-1.5707962284310295,-0.4147141013774647],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.459999999998534,"joint_targets_rad":[-1.9855104171262115,-1.582156570196104,1.316736908190962,-1.3053775477291794,-1.5707962376807105,-0.41471409155056727],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.479999999998522,"joint_targets_rad":[-1.9855104083186623,-1.5821564850908632,1.3167367649958779,-1.3053774060490166,-1.5707962460609581,-0.41471408264648163],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.499999999998511,"joint_targets_rad":[-1.985510400339963,-1.5821564081819162,1.3167366355567867,-1.3053772778405606,-1.5707962536534406,-0.4147140745786052],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.5199999999985,"joint_targets_rad":[-1.9855103931121603,-1.5821563386679691,1.3167365185359288,-1.3053771618187189,-1.5707962605321637,-0.41471406726845494],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.53999999999849,"joint_targets_rad":[-1.985510386564624,-1.582156275828222,1.3167364127285848,-1.3053770568217387,-1.5707962667641882,-0.4147140606449056],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.559999999998478,"joint_targets_rad":[-1.9855103806333618,-1.5821562190138976,1.3167363170493194,-1.3053769617992315,-1.5707962724102797,-0.4147140546435028],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.579999999998467,"joint_targets_rad":[-1.985510375260396,-1.582156167640731,1.3167362305197423,-1.305376875801389,-1.5707962775255007,-0.41471404920583604],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.599999999998456,"joint_targets_rad":[-1.9855103703931984,-1.5821561211822943,1.316736152257592,-1.3053767979692597,-1.5707962821597419,-0.41471404427897623],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.619999999998445,"joint_targets_rad":[-1.9855103659841795,-1.58215607916406,1.316736081467006,-1.3053767275259818,-1.5707962863582097,-0.414714039814959],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.639999999998434,"joint_targets_rad":[-1.9855103619902257,-1.5821560411581093,1.3167360174298166,-1.3053766637688784,-1.5707962901618644,-0.414714035770321],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.659999999998423,"joint_targets_rad":[-1.9855103583722753,-1.582156006778412,1.3167359594977743,-1.3053766060623224,-1.5707962936078195,-0.41471403210567714],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.679999999998412,"joint_targets_rad":[-1.9855103550949436,-1.5821559756766088,1.3167359070855793,-1.3053765538312982,-1.5707962967297007,-0.41471402878534047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.6999999999984,"joint_targets_rad":[-1.9855103521261719,-1.5821559475382379,1.3167358596646372,-1.3053765065555871,-1.5707962995579752,-0.4147140257769718],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.71999999999839,"joint_targets_rad":[-1.9855103494369182,-1.582155922079362,1.3167358167574592,-1.3053764637645189,-1.5707963021202473,-0.4147140230512694],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.739999999998378,"joint_targets_rad":[-1.985510347000872,-1.5821558990435338,1.3167357779326276,-1.305376425032228,-1.5707963044415272,-0.4147140205816814],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.759999999998367,"joint_targets_rad":[-1.9855103447941993,-1.5821558781990914,1.3167357428002908,-1.3053763899733746,-1.570796306544475,-0.4147140183441497],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.779999999998356,"joint_targets_rad":[-1.985510342795308,-1.5821558593367107,1.316735711008084,-1.3053763582392681,-1.5707963084496204,-0.4147140163168752],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.799999999998345,"joint_targets_rad":[-1.985510340984638,-1.5821558422672217,1.31673568223749,-1.3053763295143725,-1.5707963101755638,-0.41471401448010525],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.819999999998334,"joint_targets_rad":[-1.9855103393444697,-1.5821558268196383,1.3167356562005386,-1.3053763035131412,-1.5707963117391577,-0.41471401281594183],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.839999999998323,"joint_targets_rad":[-1.985510337858751,-1.5821558128393853,1.3167356326368496,-1.3053762799771598,-1.570796313155669,-0.41471401130816926],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.859999999998312,"joint_targets_rad":[-1.9855103365129414,-1.5821558001867067,1.3167356113109647,-1.3053762586725635,-1.570796314438931,-0.41471400994209295],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.8799999999983,"joint_targets_rad":[-1.9855103352938683,-1.582155788735225,1.3167355920099337,-1.3053762393876949,-1.5707963156014748,-0.41471400870440017],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.89999999999829,"joint_targets_rad":[-1.9855103341895983,-1.582155778370653,1.316735574541155,-1.3053762219309955,-1.570796316654655,-0.4147140075830285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.919999999998279,"joint_targets_rad":[-1.985510333189323,-1.5821557689896213,1.3167355587304048,-1.3053762061290881,-1.5707963176087574,-0.414714006567047],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.939999999998268,"joint_targets_rad":[-1.985510332283249,-1.5821557604986323,1.3167355444200837,-1.3053761918250533,-1.5707963184731006,-0.4147140056465537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.959999999998256,"joint_targets_rad":[-1.9855103314625078,-1.5821557528131052,1.3167355314676126,-1.3053761788768614,-1.570796319256128,-0.41471400481257464],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.979999999998245,"joint_targets_rad":[-1.9855103307190634,-1.5821557458565234,1.3167355197439974,-1.3053761671559594,-1.5707963199654877,-0.414714004056981],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":12.999999999998234,"joint_targets_rad":[-1.9855103300456374,-1.5821557395596582,1.3167355091325246,-1.3053761565459907,-1.5707963206081095,-0.41471400337240677],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.019999999998223,"joint_targets_rad":[-1.9855103294356362,-1.5821557338598746,1.3167354995275917,-1.3053761469416336,-1.5707963211902716,-0.41471400275217685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.039999999998212,"joint_targets_rad":[-1.9855103288830875,-1.5821557287004968,1.316735490833641,-1.305376138247559,-1.5707963217176608,-0.4147140021902455],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.059999999998201,"joint_targets_rad":[-1.9855103283825806,-1.5821557240302404,1.3167354829642033,-1.305376130377476,-1.570796322195429,-0.4147140016811341],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.07999999999819,"joint_targets_rad":[-1.9855103279292148,-1.5821557198026963,1.3167354758410288,-1.305376123253278,-1.5707963226282455,-0.4147140012198774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.099999999998179,"joint_targets_rad":[-1.9855103275185504,-1.5821557159758664,1.316735469393305,-1.3053761168042652,-1.5707963230203386,-0.4147140008019787],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.119999999998168,"joint_targets_rad":[-1.9855103271465662,-1.5821557125117436,1.3167354635569464,-1.30537611096644,-1.570796323375539,-0.4147140004233624],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.139999999998157,"joint_targets_rad":[-1.9855103268096195,-1.582155709375928,1.3167354582739526,-1.3053761056818716,-1.5707963236973175,-0.41471400008033743],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.159999999998146,"joint_targets_rad":[-1.9855103265044105,-1.5821557065372907,1.3167354534918367,-1.3053761008981242,-1.5707963239888192,-0.41471399976955803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.179999999998135,"joint_targets_rad":[-1.9855103262279497,-1.5821557039676524,1.3167354491630887,-1.3053760965677301,-1.570796324252892,-0.4147139994879934],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.199999999998123,"joint_targets_rad":[-1.9855103259775302,-1.5821557016415133,1.3167354452447135,-1.3053760926477223,-1.5707963244921164,-0.4147139992328978],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.219999999998112,"joint_targets_rad":[-1.9855103257506987,-1.5821556995357897,1.3167354416977946,-1.3053760890992079,-1.5707963247088303,-0.4147139990017831],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.239999999998101,"joint_targets_rad":[-1.9855103255452338,-1.5821556976295879,1.3167354384871055,-1.3053760858869778,-1.5707963249051515,-0.41471399879239584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.25999999999809,"joint_targets_rad":[-1.9855103253591235,-1.5821556959039984,1.316735435580768,-1.305376082979164,-1.570796325082999,-0.41471399860269326],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.27999999999808,"joint_targets_rad":[-1.985510325190545,-1.582155694341904,1.3167354329499241,-1.3053760803469145,-1.5707963252441113,-0.41471399843082507],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.299999999998068,"joint_targets_rad":[-1.9855103250378459,-1.5821556929278096,1.3167354305684544,-1.305376077964116,-1.570796325390062,-0.4147139982751147],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.319999999998057,"joint_targets_rad":[-1.9855103248995312,-1.582155691647691,1.316735428412717,-1.3053760758071276,-1.5707963255222783,-0.41471399813404386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.339999999998046,"joint_targets_rad":[-1.985510324774246,-1.5821556904888519,1.3167354264613123,-1.3053760738545501,-1.5707963256420525,-0.4147139980062359],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.359999999998035,"joint_targets_rad":[-1.9855103246607633,-1.5821556894398001,1.3167354246948677,-1.3053760720870105,-1.5707963257505555,-0.4147139978904437],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.379999999998024,"joint_targets_rad":[-1.985510324557971,-1.5821556884901349,1.3167354230958541,-1.3053760704869761,-1.570796325848847,-0.4147139977855386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.399999999998013,"joint_targets_rad":[-1.9855103244648622,-1.582155687630437,1.3167354216483949,-1.3053760690385698,-1.570796325937889,-0.4147139976904968],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.419999999998002,"joint_targets_rad":[-1.9855103243805248,-1.5821556868521844,1.3167354203381287,-1.3053760677274253,-1.570796326018551,-0.41471399760439065],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.43999999999799,"joint_targets_rad":[-1.9855103243041328,-1.5821556861476596,1.3167354191520486,-1.305376066540533,-1.5707963260916218,-0.41471399752638083],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.45999999999798,"joint_targets_rad":[-1.9855103242349375,-1.5821556855098775,1.3167354180783848,-1.305376065466119,-1.5707963261578157,-0.4147139974557058],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.479999999997968,"joint_targets_rad":[-1.9855103241722605,-1.5821556849325156,1.316735417106482,-1.3053760644935248,-1.5707963262177802,-0.4147139973916758],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.499999999997957,"joint_targets_rad":[-1.9855103241154888,-1.5821556844098483,1.3167354162266927,-1.3053760636130984,-1.5707963262721012,-0.4147139973336667],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.519999999997946,"joint_targets_rad":[-1.9855103240640657,-1.582155683936696,1.3167354154302886,-1.3053760628161086,-1.5707963263213098,-0.41471399728111175],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.539999999997935,"joint_targets_rad":[-1.9855103240174867,-1.5821556835083668,1.3167354147093666,-1.3053760620946484,-1.5707963263658868,-0.4147139972334987],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.559999999997924,"joint_targets_rad":[-1.9855103239752967,-1.5821556831206143,1.3167354140567704,-1.3053760614415584,-1.5707963264062685,-0.4147139971903633],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.579999999997913,"joint_targets_rad":[-1.9855103239370815,-1.582155682769594,1.316735413466025,-1.3053760608503602,-1.5707963264428497,-0.4147139971512833],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.599999999997902,"joint_targets_rad":[-1.9855103239024665,-1.5821556824518275,1.316735412931269,-1.305376060315188,-1.5707963264759879,-0.4147139971158782],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.61999999999789,"joint_targets_rad":[-1.985510323871113,-1.5821556821641642,1.3167354124471953,-1.3053760598307336,-1.570796326506007,-0.4147139970838026],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.63999999999788,"joint_targets_rad":[-1.9855103238427134,-1.5821556819037519,1.3167354120090011,-1.3053760593921915,-1.5707963265332008,-0.41471399705474304],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.659999999997869,"joint_targets_rad":[-1.9855103238169893,-1.5821556816680091,1.3167354116123369,-1.3053760589952077,-1.570796326557835,-0.414713997028416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.679999999997857,"joint_targets_rad":[-1.9855103237936893,-1.5821556814545985,1.3167354112532663,-1.3053760586358465,-1.5707963265801506,-0.4147139970045655],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.699999999997846,"joint_targets_rad":[-1.9855103237725844,-1.5821556812614053,1.316735410928228,-1.305376058310542,-1.570796326600366,-0.41471399698295736],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.719999999997835,"joint_targets_rad":[-1.9855103237534684,-1.5821556810865143,1.3167354106339968,-1.3053760580160665,-1.570796326618678,-0.4147139969633815],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.739999999997824,"joint_targets_rad":[-1.985510323736153,-1.582155680928191,1.3167354103676505,-1.3053760577494986,-1.5707963266352665,-0.4147139969456463],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.759999999997813,"joint_targets_rad":[-1.9855103237204692,-1.5821556807848662,1.3167354101265476,-1.3053760575081927,-1.5707963266502938,-0.4147139969295794],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.779999999997802,"joint_targets_rad":[-1.9855103237062637,-1.5821556806551198,1.3167354099082968,-1.3053760572897557,-1.5707963266639067,-0.414713996915023],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.799999999997791,"joint_targets_rad":[-1.9855103236933962,-1.5821556805376649,1.3167354097107313,-1.3053760570920208,-1.570796326676238,-0.4147139969018359],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.81999999999778,"joint_targets_rad":[-1.9855103236817415,-1.5821556804313366,1.3167354095318895,-1.3053760569130248,-1.5707963266874085,-0.4147139968898887],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.839999999997769,"joint_targets_rad":[-1.9855103236711846,-1.5821556803350807,1.316735409369997,-1.305376056750992,-1.5707963266975276,-0.4147139968790656],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.859999999997758,"joint_targets_rad":[-1.9855103236616227,-1.5821556802479455,1.3167354092234504,-1.3053760566043164,-1.570796326706694,-0.4147139968692596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.879999999997747,"joint_targets_rad":[-1.9855103236529614,-1.5821556801690635,1.316735409090792,-1.305376056471541,-1.570796326714998,-0.41471399686037685],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.899999999997736,"joint_targets_rad":[-1.985510323645117,-1.5821556800976555,1.316735408970707,-1.305376056351349,-1.57079632672252,-0.414713996852329],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.919999999997724,"joint_targets_rad":[-1.9855103236380114,-1.5821556800330117,1.3167354088620038,-1.3053760562425492,-1.5707963267293337,-0.41471399684503857],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.939999999997713,"joint_targets_rad":[-1.9855103236315748,-1.5821556799744922,1.3167354087636025,-1.305376056144059,-1.5707963267355065,-0.41471399683843335],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.959999999997702,"joint_targets_rad":[-1.9855103236257456,-1.5821556799215168,1.3167354086745267,-1.3053760560549026,-1.570796326741098,-0.4147139968324493],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.979999999997691,"joint_targets_rad":[-1.9855103236204654,-1.582155679873561,1.3167354085938963,-1.305376055974198,-1.5707963267461627,-0.41471399682702825],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":13.99999999999768,"joint_targets_rad":[-1.9855103236156828,-1.5821556798301477,1.3167354085209066,-1.3053760559011416,-1.570796326750751,-0.414713996822117],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.019999999997669,"joint_targets_rad":[-1.985510323611351,-1.5821556797908478,1.3167354084548344,-1.3053760558350078,-1.5707963267549079,-0.41471399681766796],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.039999999997658,"joint_targets_rad":[-1.9855103236074272,-1.5821556797552703,1.316735408395025,-1.3053760557751426,-1.5707963267586724,-0.4147139968136374],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.059999999997647,"joint_targets_rad":[-1.9855103236038731,-1.5821556797230645,1.3167354083408849,-1.3053760557209515,-1.570796326762083,-0.41471399680998616],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.079999999997636,"joint_targets_rad":[-1.9855103236006537,-1.5821556796939091,1.3167354082918752,-1.3053760556718956,-1.5707963267651726,-0.4147139968066775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.099999999997625,"joint_targets_rad":[-1.9855103235977383,-1.5821556796675162,1.316735408247511,-1.3053760556274892,-1.5707963267679712,-0.4147139968036803],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.119999999997614,"joint_targets_rad":[-1.9855103235950977,-1.5821556796436236,1.3167354082073508,-1.3053760555872915,-1.5707963267705065,-0.4147139968009657],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.139999999997602,"joint_targets_rad":[-1.9855103235927052,-1.582155679621995,1.3167354081709985,-1.3053760555509042,-1.570796326772803,-0.414713996798506],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.159999999997591,"joint_targets_rad":[-1.985510323590539,-1.582155679602415,1.3167354081380904,-1.3053760555179643,-1.5707963267748832,-0.4147139967962779],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.17999999999758,"joint_targets_rad":[-1.9855103235885763,-1.5821556795846907,1.3167354081083023,-1.305376055488147,-1.5707963267767677,-0.41471399679425897],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.19999999999757,"joint_targets_rad":[-1.9855103235867986,-1.5821556795686453,1.3167354080813372,-1.3053760554611555,-1.5707963267784746,-0.4147139967924306],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.219999999997558,"joint_targets_rad":[-1.9855103235851888,-1.5821556795541203,1.3167354080569282,-1.3053760554367229,-1.5707963267800211,-0.4147139967907732],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.239999999997547,"joint_targets_rad":[-1.9855103235837304,-1.582155679540971,1.3167354080348326,-1.3053760554146057,-1.5707963267814218,-0.41471399678927284],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.259999999997536,"joint_targets_rad":[-1.9855103235824096,-1.5821556795290685,1.3167354080148321,-1.3053760553945846,-1.5707963267826903,-0.4147139967879127],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.279999999997525,"joint_targets_rad":[-1.9855103235812137,-1.5821556795182934,1.316735407996727,-1.3053760553764615,-1.5707963267838394,-0.4147139967866816],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.299999999997514,"joint_targets_rad":[-1.98551032358013,-1.5821556795085383,1.3167354079803362,-1.3053760553600546,-1.570796326784881,-0.41471399678556553],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.319999999997503,"joint_targets_rad":[-1.9855103235791483,-1.5821556794997078,1.3167354079654998,-1.3053760553452034,-1.570796326785824,-0.4147139967845541],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.339999999997492,"joint_targets_rad":[-1.9855103235782594,-1.5821556794917144,1.316735407952071,-1.3053760553317608,-1.5707963267866785,-0.4147139967836386],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.35999999999748,"joint_targets_rad":[-1.9855103235774545,-1.5821556794844778,1.3167354079399136,-1.3053760553195914,-1.5707963267874525,-0.414713996782809],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.37999999999747,"joint_targets_rad":[-1.985510323576725,-1.5821556794779272,1.3167354079289095,-1.3053760553085756,-1.5707963267881535,-0.41471399678205745],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.399999999997458,"joint_targets_rad":[-1.9855103235760645,-1.582155679471998,1.3167354079189486,-1.305376055298604,-1.570796326788788,-0.4147139967813765],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.419999999997447,"joint_targets_rad":[-1.9855103235754663,-1.5821556794666296,1.3167354079099314,-1.3053760552895777,-1.5707963267893634,-0.41471399678075943],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.439999999997436,"joint_targets_rad":[-1.9855103235749245,-1.5821556794617702,1.3167354079017688,-1.3053760552814069,-1.5707963267898846,-0.41471399678020016],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.459999999997425,"joint_targets_rad":[-1.9855103235744336,-1.582155679457371,1.3167354078943798,-1.30537605527401,-1.5707963267903566,-0.4147139967796949],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.479999999997414,"joint_targets_rad":[-1.985510323573989,-1.582155679453389,1.3167354078876914,-1.3053760552673146,-1.570796326790784,-0.414713996779236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.499999999997403,"joint_targets_rad":[-1.9855103235735867,-1.5821556794497835,1.316735407881636,-1.3053760552612532,-1.5707963267911715,-0.4147139967788205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.519999999997392,"joint_targets_rad":[-1.9855103235732217,-1.5821556794465204,1.3167354078761562,-1.3053760552557674,-1.5707963267915221,-0.4147139967784446],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.53999999999738,"joint_targets_rad":[-1.9855103235728915,-1.5821556794435658,1.3167354078711944,-1.3053760552508005,-1.57079632679184,-0.41471399677810333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.55999999999737,"joint_targets_rad":[-1.9855103235725922,-1.5821556794408926,1.316735407866705,-1.3053760552463052,-1.570796326792128,-0.4147139967777945],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.579999999997359,"joint_targets_rad":[-1.985510323572321,-1.582155679438471,1.316735407862639,-1.3053760552422355,-1.5707963267923888,-0.41471399677751447],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.599999999997348,"joint_targets_rad":[-1.985510323572076,-1.5821556794362797,1.3167354078589593,-1.3053760552385518,-1.5707963267926248,-0.4147139967772615],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.619999999997336,"joint_targets_rad":[-1.9855103235718532,-1.5821556794342955,1.3167354078556277,-1.305376055235217,-1.5707963267928389,-0.4147139967770319],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.639999999997325,"joint_targets_rad":[-1.9855103235716518,-1.5821556794324996,1.3167354078526126,-1.305376055232198,-1.5707963267930325,-0.4147139967768235],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.659999999997314,"joint_targets_rad":[-1.9855103235714693,-1.5821556794308744,1.3167354078498834,-1.3053760552294658,-1.5707963267932081,-0.41471399677663506],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.679999999997303,"joint_targets_rad":[-1.9855103235713043,-1.582155679429402,1.3167354078474112,-1.3053760552269915,-1.570796326793367,-0.41471399677646453],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.699999999997292,"joint_targets_rad":[-1.9855103235711546,-1.5821556794280702,1.3167354078451756,-1.3053760552247533,-1.5707963267935112,-0.4147139967763097],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.719999999997281,"joint_targets_rad":[-1.9855103235710194,-1.5821556794268645,1.316735407843151,-1.3053760552227265,-1.5707963267936416,-0.4147139967761703],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.73999999999727,"joint_targets_rad":[-1.9855103235708964,-1.5821556794257732,1.3167354078413191,-1.305376055220892,-1.57079632679376,-0.41471399677604237],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.759999999997259,"joint_targets_rad":[-1.9855103235707856,-1.5821556794247842,1.316735407839659,-1.3053760552192306,-1.570796326793867,-0.41471399677592774],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.779999999997248,"joint_targets_rad":[-1.9855103235706848,-1.58215567942389,1.316735407838158,-1.3053760552177276,-1.5707963267939642,-0.4147139967758231],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.799999999997237,"joint_targets_rad":[-1.9855103235705935,-1.5821556794230802,1.316735407836799,-1.305376055216367,-1.5707963267940517,-0.41471399677572923],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.819999999997226,"joint_targets_rad":[-1.9855103235705107,-1.5821556794223466,1.3167354078355678,-1.3053760552151346,-1.5707963267941314,-0.414713996775644],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.839999999997215,"joint_targets_rad":[-1.985510323570436,-1.582155679421683,1.3167354078344542,-1.30537605521402,-1.5707963267942033,-0.4147139967755663],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.859999999997203,"joint_targets_rad":[-1.9855103235703686,-1.5821556794210827,1.3167354078334454,-1.30537605521301,-1.5707963267942688,-0.4147139967754963],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.879999999997192,"joint_targets_rad":[-1.985510323570307,-1.5821556794205385,1.3167354078325328,-1.3053760552120963,-1.5707963267943277,-0.41471399677543286],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.899999999997181,"joint_targets_rad":[-1.9855103235702518,-1.5821556794200462,1.3167354078317068,-1.3053760552112692,-1.5707963267943812,-0.4147139967753756],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.91999999999717,"joint_targets_rad":[-1.9855103235702012,-1.5821556794196008,1.3167354078309588,-1.3053760552105202,-1.5707963267944298,-0.41471399677532333],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.939999999997159,"joint_targets_rad":[-1.9855103235701557,-1.5821556794191975,1.3167354078302829,-1.3053760552098435,-1.5707963267944742,-0.41471399677527593],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.959999999997148,"joint_targets_rad":[-1.9855103235701144,-1.582155679418832,1.3167354078296691,-1.3053760552092293,-1.5707963267945138,-0.41471399677523296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.979999999997137,"joint_targets_rad":[-1.9855103235700768,-1.5821556794185017,1.3167354078291151,-1.3053760552086744,-1.5707963267945497,-0.4147139967751945],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":14.999999999997126,"joint_targets_rad":[-1.9855103235700429,-1.5821556794182021,1.3167354078286124,-1.305376055208171,-1.5707963267945824,-0.4147139967751596],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.019999999997115,"joint_targets_rad":[-1.9855103235700124,-1.5821556794179317,1.3167354078281581,-1.305376055207716,-1.5707963267946121,-0.4147139967751276],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.039999999997104,"joint_targets_rad":[-1.9855103235699845,-1.582155679417686,1.3167354078277467,-1.3053760552073048,-1.570796326794639,-0.41471399677509846],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.059999999997093,"joint_targets_rad":[-1.9855103235699592,-1.5821556794174643,1.3167354078273743,-1.3053760552069316,-1.5707963267946632,-0.4147139967750728],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.079999999997082,"joint_targets_rad":[-1.9855103235699363,-1.5821556794172633,1.316735407827037,-1.3053760552065934,-1.5707963267946852,-0.41471399677504855],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.09999999999707,"joint_targets_rad":[-1.9855103235699159,-1.5821556794170812,1.3167354078267317,-1.3053760552062879,-1.570796326794705,-0.41471399677502746],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.11999999999706,"joint_targets_rad":[-1.9855103235698972,-1.582155679416917,1.3167354078264557,-1.3053760552060119,-1.5707963267947234,-0.41471399677500775],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.139999999997048,"joint_targets_rad":[-1.9855103235698803,-1.5821556794167677,1.3167354078262055,-1.3053760552057612,-1.5707963267947398,-0.4147139967749906],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.159999999997037,"joint_targets_rad":[-1.9855103235698646,-1.5821556794166325,1.3167354078259792,-1.305376055205535,-1.5707963267947542,-0.4147139967749741],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.179999999997026,"joint_targets_rad":[-1.985510323569851,-1.5821556794165104,1.3167354078257736,-1.305376055205329,-1.5707963267947678,-0.4147139967749603],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.199999999997015,"joint_targets_rad":[-1.9855103235698384,-1.5821556794164002,1.316735407825589,-1.3053760552051439,-1.5707963267947798,-0.41471399677494725],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.219999999997004,"joint_targets_rad":[-1.985510323569827,-1.5821556794162999,1.3167354078254208,-1.3053760552049758,-1.5707963267947906,-0.41471399677493537],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.239999999996993,"joint_targets_rad":[-1.9855103235698168,-1.582155679416209,1.3167354078252682,-1.305376055204823,-1.5707963267948009,-0.4147139967749243],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.259999999996982,"joint_targets_rad":[-1.9855103235698073,-1.5821556794161276,1.316735407825132,-1.305376055204686,-1.57079632679481,-0.4147139967749146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.27999999999697,"joint_targets_rad":[-1.9855103235697988,-1.582155679416053,1.3167354078250064,-1.305376055204561,-1.5707963267948182,-0.41471399677490595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.29999999999696,"joint_targets_rad":[-1.9855103235697913,-1.5821556794159854,1.3167354078248938,-1.3053760552044482,-1.5707963267948253,-0.4147139967748983],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.319999999996949,"joint_targets_rad":[-1.985510323569784,-1.5821556794159248,1.3167354078247917,-1.3053760552043465,-1.5707963267948322,-0.41471399677489074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.339999999996937,"joint_targets_rad":[-1.9855103235697782,-1.5821556794158707,1.3167354078247007,-1.3053760552042541,-1.5707963267948382,-0.41471399677488413],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.359999999996926,"joint_targets_rad":[-1.9855103235697724,-1.58215567941582,1.3167354078246154,-1.3053760552041693,-1.5707963267948437,-0.41471399677487847],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.379999999996915,"joint_targets_rad":[-1.9855103235697673,-1.5821556794157738,1.3167354078245395,-1.305376055204094,-1.5707963267948486,-0.4147139967748732],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.399999999996904,"joint_targets_rad":[-1.9855103235697624,-1.5821556794157337,1.3167354078244708,-1.305376055204025,-1.5707963267948533,-0.4147139967748679],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.419999999996893,"joint_targets_rad":[-1.985510323569758,-1.582155679415697,1.3167354078244098,-1.3053760552039635,-1.570796326794857,-0.41471399677486354],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.439999999996882,"joint_targets_rad":[-1.9855103235697542,-1.5821556794156637,1.3167354078243543,-1.305376055203908,-1.5707963267948606,-0.4147139967748595],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.459999999996871,"joint_targets_rad":[-1.9855103235697509,-1.5821556794156337,1.3167354078243034,-1.3053760552038565,-1.5707963267948644,-0.4147139967748559],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.47999999999686,"joint_targets_rad":[-1.9855103235697478,-1.5821556794156055,1.316735407824257,-1.305376055203811,-1.5707963267948672,-0.4147139967748524],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.499999999996849,"joint_targets_rad":[-1.985510323569745,-1.5821556794155809,1.3167354078242153,-1.3053760552037688,-1.5707963267948704,-0.4147139967748499],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.519999999996838,"joint_targets_rad":[-1.9855103235697424,-1.5821556794155585,1.3167354078241773,-1.305376055203731,-1.5707963267948728,-0.4147139967748474],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.539999999996827,"joint_targets_rad":[-1.98551032356974,-1.582155679415538,1.3167354078241433,-1.3053760552036968,-1.570796326794875,-0.41471399677484416],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.559999999996815,"joint_targets_rad":[-1.9855103235697378,-1.5821556794155196,1.3167354078241125,-1.3053760552036657,-1.570796326794877,-0.41471399677484244],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.579999999996804,"joint_targets_rad":[-1.985510323569736,-1.582155679415503,1.3167354078240845,-1.305376055203638,-1.5707963267948788,-0.4147139967748407],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.599999999996793,"joint_targets_rad":[-1.9855103235697342,-1.582155679415488,1.3167354078240594,-1.3053760552036124,-1.5707963267948801,-0.4147139967748388],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.619999999996782,"joint_targets_rad":[-1.9855103235697327,-1.5821556794154743,1.3167354078240363,-1.3053760552035893,-1.5707963267948821,-0.4147139967748365],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.639999999996771,"joint_targets_rad":[-1.985510323569731,-1.582155679415462,1.3167354078240163,-1.3053760552035694,-1.5707963267948832,-0.41471399677483556],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.65999999999676,"joint_targets_rad":[-1.98551032356973,-1.5821556794154505,1.3167354078239963,-1.3053760552035498,-1.5707963267948848,-0.4147139967748339],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.679999999996749,"joint_targets_rad":[-1.9855103235697287,-1.5821556794154406,1.3167354078239801,-1.3053760552035332,-1.570796326794886,-0.4147139967748329],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.699999999996738,"joint_targets_rad":[-1.9855103235697278,-1.5821556794154314,1.3167354078239648,-1.3053760552035178,-1.5707963267948866,-0.41471399677483123],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.719999999996727,"joint_targets_rad":[-1.985510323569727,-1.5821556794154232,1.3167354078239506,-1.3053760552035034,-1.570796326794888,-0.41471399677483095],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.739999999996716,"joint_targets_rad":[-1.9855103235697258,-1.5821556794154157,1.3167354078239377,-1.3053760552034905,-1.5707963267948886,-0.41471399677482973],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.759999999996705,"joint_targets_rad":[-1.9855103235697251,-1.5821556794154084,1.3167354078239257,-1.3053760552034792,-1.5707963267948892,-0.4147139967748291],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.779999999996694,"joint_targets_rad":[-1.9855103235697242,-1.582155679415403,1.3167354078239166,-1.3053760552034694,-1.57079632679489,-0.4147139967748285],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.799999999996682,"joint_targets_rad":[-1.9855103235697238,-1.5821556794153968,1.3167354078239062,-1.3053760552034597,-1.5707963267948906,-0.41471399677482773],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.819999999996671,"joint_targets_rad":[-1.9855103235697233,-1.5821556794153921,1.3167354078238982,-1.3053760552034512,-1.5707963267948912,-0.414713996774827],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.83999999999666,"joint_targets_rad":[-1.9855103235697227,-1.582155679415387,1.3167354078238898,-1.305376055203443,-1.5707963267948915,-0.4147139967748267],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.85999999999665,"joint_targets_rad":[-1.985510323569722,-1.582155679415383,1.316735407823884,-1.305376055203437,-1.5707963267948923,-0.41471399677482584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.879999999996638,"joint_targets_rad":[-1.9855103235697218,-1.5821556794153795,1.316735407823877,-1.3053760552034304,-1.5707963267948923,-0.41471399677482584],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.899999999996627,"joint_targets_rad":[-1.9855103235697211,-1.5821556794153762,1.3167354078238713,-1.3053760552034244,-1.5707963267948928,-0.4147139967748254],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.919999999996616,"joint_targets_rad":[-1.9855103235697211,-1.5821556794153728,1.3167354078238662,-1.3053760552034195,-1.5707963267948934,-0.4147139967748252],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.939999999996605,"joint_targets_rad":[-1.9855103235697205,-1.58215567941537,1.3167354078238624,-1.3053760552034155,-1.5707963267948937,-0.41471399677482457],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.959999999996594,"joint_targets_rad":[-1.9855103235697202,-1.5821556794153675,1.3167354078238571,-1.3053760552034104,-1.5707963267948941,-0.41471399677482434],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.979999999996583,"joint_targets_rad":[-1.9855103235697198,-1.5821556794153657,1.3167354078238542,-1.3053760552034068,-1.5707963267948943,-0.41471399677482396],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":15.999999999996572,"joint_targets_rad":[-1.98551032356972,-1.5821556794153637,1.316735407823851,-1.305376055203404,-1.5707963267948943,-0.4147139967748236],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.019999999996596,"joint_targets_rad":[-1.9855103235697196,-1.5821556794153617,1.3167354078238471,-1.3053760552034002,-1.5707963267948946,-0.41471399677482357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.03999999999662,"joint_targets_rad":[-1.9855103235697193,-1.5821556794153595,1.3167354078238445,-1.3053760552033975,-1.5707963267948948,-0.41471399677482357],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.059999999996645,"joint_targets_rad":[-1.9855103235697191,-1.582155679415358,1.3167354078238411,-1.3053760552033946,-1.570796326794895,-0.4147139967748233],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.07999999999667,"joint_targets_rad":[-1.9855103235697191,-1.582155679415357,1.3167354078238398,-1.3053760552033928,-1.570796326794895,-0.41471399677482296],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.099999999996694,"joint_targets_rad":[-1.9855103235697191,-1.5821556794153557,1.3167354078238378,-1.3053760552033904,-1.5707963267948952,-0.4147139967748229],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.11999999999672,"joint_targets_rad":[-1.985510323569719,-1.5821556794153544,1.3167354078238354,-1.3053760552033882,-1.5707963267948952,-0.41471399677482274],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.139999999996743,"joint_targets_rad":[-1.9855103235697187,-1.5821556794153535,1.3167354078238336,-1.3053760552033866,-1.5707963267948957,-0.4147139967748222],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.159999999996767,"joint_targets_rad":[-1.9855103235697182,-1.5821556794153528,1.3167354078238327,-1.3053760552033855,-1.5707963267948957,-0.4147139967748225],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.17999999999679,"joint_targets_rad":[-1.9855103235697185,-1.5821556794153515,1.316735407823831,-1.305376055203384,-1.5707963267948957,-0.4147139967748221],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.199999999996816,"joint_targets_rad":[-1.9855103235697182,-1.5821556794153513,1.3167354078238298,-1.305376055203383,-1.570796326794896,-0.41471399677482185],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.21999999999684,"joint_targets_rad":[-1.9855103235697182,-1.5821556794153502,1.316735407823828,-1.3053760552033813,-1.5707963267948961,-0.41471399677482224],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.239999999996865,"joint_targets_rad":[-1.9855103235697185,-1.5821556794153502,1.3167354078238276,-1.3053760552033802,-1.570796326794896,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.25999999999689,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153488,1.3167354078238263,-1.305376055203379,-1.5707963267948961,-0.41471399677482174],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.279999999996914,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153486,1.3167354078238263,-1.305376055203379,-1.5707963267948963,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.29999999999694,"joint_targets_rad":[-1.9855103235697185,-1.5821556794153484,1.316735407823825,-1.3053760552033775,-1.5707963267948961,-0.414713996774822],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.319999999996963,"joint_targets_rad":[-1.985510323569718,-1.582155679415348,1.3167354078238247,-1.3053760552033773,-1.5707963267948963,-0.4147139967748215],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.339999999996987,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153473,1.3167354078238234,-1.3053760552033764,-1.5707963267948961,-0.4147139967748216],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.35999999999701,"joint_targets_rad":[-1.985510323569718,-1.582155679415347,1.3167354078238231,-1.3053760552033762,-1.5707963267948961,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.379999999997036,"joint_targets_rad":[-1.985510323569718,-1.582155679415347,1.3167354078238234,-1.305376055203376,-1.5707963267948966,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.39999999999706,"joint_targets_rad":[-1.985510323569718,-1.5821556794153464,1.3167354078238223,-1.3053760552033746,-1.5707963267948966,-0.4147139967748214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.419999999997085,"joint_targets_rad":[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.305376055203375,-1.5707963267948963,-0.4147139967748218],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.43999999999711,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153455,1.316735407823821,-1.3053760552033744,-1.5707963267948966,-0.41471399677482157],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.459999999997134,"joint_targets_rad":[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.3053760552033742,-1.5707963267948963,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.47999999999716,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153455,1.3167354078238205,-1.3053760552033733,-1.5707963267948963,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.499999999997183,"joint_targets_rad":[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.519999999997207,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.3053760552033733,-1.5707963267948966,-0.41471399677482146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.53999999999723,"joint_targets_rad":[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.3053760552033729,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.559999999997256,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.57999999999728,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153446,1.3167354078238194,-1.3053760552033722,-1.5707963267948966,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.599999999997305,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.305376055203372,-1.5707963267948968,-0.41471399677482185],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.61999999999733,"joint_targets_rad":[-1.985510323569718,-1.5821556794153449,1.3167354078238191,-1.3053760552033715,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.639999999997354,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.65999999999738,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.3167354078238187,-1.305376055203372,-1.5707963267948966,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.679999999997403,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.699999999997427,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.71999999999745,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.739999999997476,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.7599999999975,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.779999999997525,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.3053760552033715,-1.5707963267948968,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.79999999999755,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033713,-1.5707963267948966,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.819999999997574,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.839999999997598,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238185,-1.305376055203371,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.859999999997623,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.879999999997647,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.89999999999767,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.41471399677482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.919999999997696,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033709,-1.5707963267948966,-0.41471399677482024],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.93999999999772,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.959999999997745,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.3053760552033713,-1.5707963267948968,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.97999999999777,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238185,-1.3053760552033713,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":16.999999999997794,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.019999999997818,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153437,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.039999999997843,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.059999999997867,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748212],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.07999999999789,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948968,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.099999999997916,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.4147139967748199],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.11999999999794,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.316735407823818,-1.3053760552033713,-1.5707963267948966,-0.41471399677481996],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.139999999997965,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482135],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.15999999999799,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.179999999998014,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.199999999998038,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033709,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.219999999998063,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748212],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.239999999998087,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.25999999999811,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.279999999998136,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.29999999999816,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948963,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.319999999998185,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.33999999999821,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.359999999998234,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.379999999998258,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.399999999998283,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.419999999998307,"joint_targets_rad":[-1.9855103235697174,-1.582155679415343,1.3167354078238165,-1.3053760552033702,-1.5707963267948966,-0.41471399677482024],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.43999999999833,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.4147139967748201],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.459999999998356,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.47999999999838,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.499999999998405,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948968,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.51999999999843,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.539999999998454,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.559999999998478,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.579999999998503,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.599999999998527,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.61999999999855,"joint_targets_rad":[-1.9855103235697176,-1.582155679415343,1.3167354078238165,-1.3053760552033697,-1.5707963267948963,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.639999999998576,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.6599999999986,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.679999999998625,"joint_targets_rad":[-1.985510323569718,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948963,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.69999999999865,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948968,-0.41471399677482146],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.719999999998674,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.316735407823817,-1.3053760552033704,-1.5707963267948966,-0.4147139967748203],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.739999999998698,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.759999999998723,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153444,1.3167354078238185,-1.3053760552033709,-1.5707963267948968,-0.41471399677482135],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.779999999998747,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.79999999999877,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948966,-0.4147139967748213],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.819999999998796,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.83999999999882,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.859999999998845,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948963,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.87999999999887,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.899999999998894,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.570796326794897,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.919999999998918,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.939999999998943,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.959999999998967,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153433,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.97999999999899,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":17.999999999999016,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.01999999999904,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948963,-0.4147139967748212],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.039999999999065,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.05999999999909,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033706,-1.5707963267948963,-0.4147139967748204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.079999999999114,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.099999999999138,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.119999999999163,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.139999999999187,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.15999999999921,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.179999999999236,"joint_targets_rad":[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.19999999999926,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.219999999999285,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.23999999999931,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.259999999999334,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948968,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.279999999999358,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.299999999999383,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.319999999999407,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.33999999999943,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.359999999999456,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.37999999999948,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.570796326794897,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.399999999999505,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.41999999999953,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.439999999999554,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482024],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.459999999999578,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948968,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.479999999999603,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.499999999999627,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.51999999999965,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.539999999999676,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.5599999999997,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033709,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.579999999999725,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.59999999999975,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.619999999999774,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033704,-1.5707963267948968,-0.4147139967748204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.639999999999798,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.659999999999823,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482157],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.679999999999847,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033695,-1.5707963267948966,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.69999999999987,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.719999999999896,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238165,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.73999999999992,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.759999999999945,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.77999999999997,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.799999999999994,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.820000000000018,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.840000000000042,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482007],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.860000000000067,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.88000000000009,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.900000000000116,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948961,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.92000000000014,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033706,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.940000000000165,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.96000000000019,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":18.980000000000214,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.000000000000238,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.020000000000262,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.040000000000287,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.06000000000031,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.080000000000336,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.10000000000036,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.120000000000385,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.14000000000041,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748203],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.160000000000434,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.180000000000458,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.200000000000482,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.220000000000507,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.24000000000053,"joint_targets_rad":[-1.985510323569718,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948963,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.260000000000556,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.28000000000058,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.570796326794897,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.300000000000605,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.32000000000063,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.340000000000654,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948963,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.360000000000678,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748217],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.380000000000702,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.30537605520337,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.400000000000727,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.42000000000075,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.440000000000776,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.4600000000008,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.480000000000825,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.50000000000085,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.4147139967748204],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.520000000000874,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.540000000000898,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.560000000000922,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.580000000000947,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748202],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.60000000000097,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.620000000000996,"joint_targets_rad":[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.41471399677482096],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.64000000000102,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.660000000001045,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.68000000000107,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.700000000001094,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.720000000001118,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.740000000001142,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948963,-0.41471399677482074],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.760000000001167,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.78000000000119,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.800000000001216,"joint_targets_rad":[-1.9855103235697174,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.4147139967748205],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.82000000000124,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153433,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.840000000001265,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.41471399677482124],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.86000000000129,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.880000000001314,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153437,1.3167354078238167,-1.3053760552033697,-1.5707963267948968,-0.41471399677482046],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.900000000001338,"joint_targets_rad":[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.920000000001362,"joint_targets_rad":[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.940000000001387,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748208],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.96000000000141,"joint_targets_rad":[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],"gripper_0_255":0.0,"phase":"replay_open_jaw"},{"t_seconds":19.980000000001436,"joint_targets_rad":[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.41471399677482085],"gripper_0_255":0.0,"phase":"replay_open_jaw"}],"arm_tape":[[-1.570650239472625,-1.576508036224432,1.5311245400001046,-1.5256139203547907,-1.5707831832438681,0.00014575078052606828],[-1.5706502836720375,-1.5766785105812011,1.5298876194303523,-1.5242062574080686,-1.5707831773583245,0.00014573734925516974],[-1.5706452679127998,-1.5769240354219927,1.5262715641532512,-1.5203449812288319,-1.57078308858285,0.0001507712060351261],[-1.5706325521545357,-1.5772540378622,1.522293570940394,-1.5160377153258844,-1.5707829516314908,0.00016348539134371598],[-1.5706163364098753,-1.5775656957401478,1.5182763758606515,-1.511709734569871,-1.570782800521539,0.00017969168483305902],[-1.5705999283198842,-1.577859785201214,1.5142395220492713,-1.5073796585990478,-1.5707826499502415,0.0001960907189236038],[-1.5705835136762416,-1.578136267218703,1.5101841472095316,-1.5030486572561066,-1.5707825005409943,0.0002124971277037457],[-1.5705671041840557,-1.5783951263574443,1.5061102490979204,-1.4987167451615873,-1.5707823521079962,0.00022889916170303168],[-1.570550699965277,-1.5786363460578938,1.5020177456669905,-1.494383858647597,-1.5707822044356268,0.00024529662967101963],[-1.5705343004307553,-1.578859908134534,1.4979065473042457,-1.4900499279827004,-1.5707820573271178,0.0002616900555234298],[-1.5705179049979663,-1.579065792722021,1.4937765615655665,-1.4857148821397232,-1.570781910605071,0.00027807996213322333],[-1.570501513133841,-1.5792539782558728,1.4896276934256205,-1.481378649077654,-1.5707817641091704,0.00029446682818575355],[-1.5704851243530904,-1.5794244414483012,1.4854598452218009,-1.4770411557227803,-1.570781617694021,0.000310851089449187],[-1.5704687382138725,-1.5795771572568702,1.4812729165725338,-1.472702327930286,-1.5707814712272576,0.00032723314271340307],[-1.5704523543136095,-1.5797120988456808,1.4770668042884314,-1.4683620904450545,-1.5707813245878985,0.0003436133496015995],[-1.5704359722851595,-1.57982923753883,1.4728414022769876,-1.4640203668627372,-1.5707811776649072,0.000359992040052455],[-1.5704195917932913,-1.5799285427657808,1.4685966014401963,-1.459677079590927,-1.5707810303559304,0.0003763695155244841],[-1.5704032125314384,-1.5800099819981632,1.4643322895642696,-1.4553321498101794,-1.570780882566187,0.00039274605194147664],[-1.570386834218684,-1.580073520677414,1.4600483512005356,-1.4509854974346446,-1.5707807342074873,0.0004091219024289693],[-1.570370456597097,-1.5801191221325166,1.4557446675364307,-1.446637041072032,-1.570780585197361,0.0004254972997305708],[-1.5703540794291861,-1.5801467474868778,1.4514211162552746,-1.4422866979826312,-1.570780435458281,0.00044187245851293254],[-1.570337702495575,-1.5801563555532214,1.4470775713833524,-1.437934384037093,-1.5707802849169654,0.0004582475774798367],[-1.5703213255928876,-1.5801479027151348,1.4427139031225618,-1.4335800136726602,-1.5707801335037506,0.00047462284128783807],[-1.5703049485317166,-1.5801213427935568,1.4383299776665035,-1.4292234998474755,-1.570779981152019,0.0004909984223964723],[-1.570288571134734,-1.580076626896207,1.4339256569975822,-1.4248647539926007,-1.5707798277976754,0.0005073744827957499],[-1.570272193235058,-1.5800137032475265,1.4295007986621855,-1.4205036859612794,-1.5707796733786668,0.000523751175488054],[-1.5702558146745609,-1.5799325169960774,1.4250552555203355,-1.416140203974946,-1.5707795178345276,0.0005401286460422275],[-1.570239435302392,-1.579833009995838,1.4205888754656293,-1.4117742145653922,-1.570779361105953,0.0005565070339453535],[-1.5702230549735707,-1.5797151205569075,1.4161015011102205,-1.4074056225123872,-1.5707792031343915,0.0005728864739013714],[-1.5702066735476818,-1.579578783160178,1.4115929694285423,-1.4030343307759212,-1.570779043861642,0.000589267097023299],[-1.5701902906875471,-1.579423945404448,1.40706317515772,-1.3986602867392763,-1.5707788832384826,0.0006056492319070209],[-1.5701739062556772,-1.579250557235146,1.402512037964548,-1.3942834602703364,-1.5707787212188389,0.0006220330089031661],[-1.570157520560549,-1.5790585364514593,1.3979393752189895,-1.3899037514271444,-1.5707785577406912,0.0006384181136913495],[-1.5701411335107769,-1.5788477954426356,1.3933449945730434,-1.3855210559760323,-1.5707783927391985,0.0006548046314345727],[-1.5701247449961224,-1.5786182400962054,1.3887286946843054,-1.381135267192885,-1.5707782261477026,0.0006711926666890569],[-1.570108354910848,-1.5783697690236942,1.384090264511353,-1.3767462759354165,-1.5707780578972603,0.0006875823200621923],[-1.5700919631556904,-1.5781022726251916,1.379429482232247,-1.3723539705013992,-1.5707778879159835,0.0007039736861901016],[-1.5700755696394058,-1.577815631959471,1.3747461139284671,-1.3679582364473573,-1.5707777161282745,0.000720366852149488],[-1.570059174280727,-1.5775097173657924,1.3700399119858173,-1.3635589563732147,-1.570777542453919,0.0007367618954629727],[-1.5700427770116885,-1.5771843867656214,1.365310613132059,-1.3591560096646846,-1.5707773668069953,0.000753158880743963],[-1.570026377782814,-1.576839483546175,1.3605579360004016,-1.3547492721809593,-1.5707771890945394,0.0007695578544787097],[-1.5700099765712439,-1.5764748338900332,1.3557815780654259,-1.350338615870518,-1.5707770092148665,0.0007859588368932327],[-1.5699935733923829,-1.5760902433592394,1.3509812117350612,-1.3459239082909324,-1.5707768270554356,0.000802361810287493],[-1.5699771683186552,-1.5756854924593258,1.3461564792885679,-1.341505011998165,-1.5707766424900693,0.0008187667003035808],[-1.5699607615073792,-1.5752603307795734,1.3413069862050133,-1.337081783754987,-1.5707764553752572,0.0008351733480766308],[-1.5699443532444728,-1.5748144691035917,1.3364322921987484,-1.3326540734831376,-1.5707762655451416,0.0008515814665936449],[-1.5699279440132978,-1.5743475685541892,1.3315318989065812,-1.3282217228433784,-1.5707760728045495,0.0008679905719684736],[-1.56991153460609,-1.5738592252821166,1.3266052325470807,-1.3237845632598075,-1.570775876919048,0.0008843998722191826],[-1.5698959147657536,-1.5733658044262597,1.3219079497989261,-1.3195806376792485,-1.5707757832148976,0.00090002141478625],[-1.5698939545209096,-1.573163767411997,1.3216506129155736,-1.3195036153936106,-1.5707775287230614,0.0009020141507133831],[-1.5698921452412586,-1.572992400867238,1.3214308453956904,-1.319435253737959,-1.5707791579581623,0.0009038525991576581],[-1.5698904859377545,-1.572850181532747,1.3212470099663036,-1.319375416745575,-1.5707806578013224,0.0009055386395984653],[-1.569888970314802,-1.572732247584331,1.3210933413107744,-1.3193230550864403,-1.5707820357193987,0.0009070788686638619],[-1.5698875871173652,-1.572634355436052,1.3209647665285638,-1.3192772101533787,-1.5707833000026206,0.0009084847307058269],[-1.5698863253955277,-1.5725529930033373,1.3208570497325878,-1.3192370381682867,-1.570784458728903,0.0009097673334791742],[-1.5698851750061398,-1.5724852715505675,1.3207666767956017,-1.3192018020783645,-1.5707855196318472,0.0009109369599604342],[-1.5698841265966643,-1.5724288161767064,1.3206907349422785,-1.3191708602957777,-1.5707864900662742,0.0009120030888306989],[-1.569905806501069,-1.5842918905514398,1.3979524820973417,-1.3841889173182573,-1.5708216441218013,0.0008903856004600803],[-1.5699518104121315,-1.5843631938178484,1.396598441741641,-1.3827690683671685,-1.5708211939115004,0.0008444956680569099],[-1.569944779138908,-1.584473365572929,1.39731370457576,-1.3833846517619195,-1.5708202388052623,0.0008515108240775387],[-1.5699253029363234,-1.5849654773113295,1.4011251751029954,-1.3867092711590234,-1.5708197167160294,0.0008709487644691117],[-1.5699121459581848,-1.5857343298343243,1.4062264553387802,-1.3910411451896865,-1.5708196814186424,0.0008840857253750548],[-1.5699091985118967,-1.5864804584428367,1.4113632879859441,-1.3954310452239866,-1.570819665485895,0.0008870394708097929],[-1.5699070152476897,-1.5872082894804769,1.4164835680213952,-1.3998228486422601,-1.5708196361401376,0.0008892297691848904],[-1.5699048634605968,-1.5879178986338527,1.4215821898483045,-1.404211390954051,-1.5708195918684533,0.0008913874187454897],[-1.5699026867878292,-1.5886093551554512,1.426658987199247,-1.4085964203429817,-1.5708195339853173,0.0008935688497604417],[-1.5699004881046348,-1.5892827162845227,1.4317141827624258,-1.4129780849727533,-1.570819463929147,0.00089577138485546],[-1.5698982745751293,-1.589938035106109,1.436748020109503,-1.4173565595870654,-1.5708193830312347,0.0008979880346346997],[-1.569896053105992,-1.59057536120637,1.4417607331143578,-1.4217320143234615,-1.570819292503302,0.000900212037094787],[-1.5698938300267546,-1.591194740858737,1.4467525442987572,-1.426104612728955,-1.5708191934444233,0.0009024371816535868],[-1.5698916111215506,-1.5917962171630284,1.4517236655198293,-1.430474512163108,-1.5708190868494996,0.0009046577818181918],[-1.5698894016846068,-1.5923798301763448,1.4566742987741703,-1.434841864339337,-1.5708189736175917,0.0009068686234103824],[-1.5698872065726317,-1.592945617037669,1.461604636939042,-1.4392068158228446,-1.5708188545599002,0.0009090649152547332],[-1.5698850302524003,-1.5934936120854228,1.466514864442228,-1.4435695084762574,-1.570818730407306,0.0009112422441431092],[-1.5698828768438935,-1.5940238469673653,1.4714051578658762,-1.447930079857705,-1.5708186018174488,0.0009133965337974278],[-1.569880750159468,-1.5945363507424977,1.4762756864903293,-1.4522886635765844,-1.570818469381323,0.0009155240074436798],[-1.5698786537394793,-1.59503114997485,1.481126612783537,-1.4566453896117513,-1.570818333629388,0.0009176211536280067],[-1.56987659088475,-1.595508268819173,1.485958092841166,-1.461000384596341,-1.5708181950372135,0.0009196846949392957],[-1.5698745646862526,-1.595967729098663,1.4907702767820585,-1.4653537720729488,-1.57081805403066,0.0009217115593149047],[-1.5698725780523133,-1.5964095503748992,1.4955633091032174,-1.4697056727224542,-1.5708179109906333,0.0009236988536471734],[-1.56987063373364,-1.5968337500102128,1.5003373289981232,-1.4740562045694388,-1.570817766257425,0.0009256438394352612],[-1.5698687343464446,-1.5972403432227025,1.505092470641758,-1.4784054831667797,-1.570817620134672,0.000927543910219431],[-1.5698668823938977,-1.5976293431340873,1.5098288634453512,-1.482753621761711,-1.5708174728929551,0.0009293965705853656],[-1.5698650802861671,-1.5980007608105922,1.514546632283535,-1.4871007314454165,-1.570817324773071,0.0009311994165147058],[-1.5698633303592366,-1.5983546052969673,1.5192458976962508,-1.4914469212879287,-1.5708171759889986,0.0009329501168776928],[-1.5698616348927223,-1.5986908836437395,1.523926776067482,-1.495792298459976,-1.5708170267305825,0.0009346463958833527],[-1.5698599961268815,-1.5990096009276933,1.5285893797825791,-1.5001369683431922,-1.570816877165964,0.0009362860162853109],[-1.5698584162790064,-1.5993107602655197,1.5332338173656708,-1.5044810346299387,-1.5708167274437754,0.000937866763174452],[-1.5698568975593903,-1.5995943628204836,1.5378601935984473,-1.5088245994139131,-1.5708165776951202,0.0009393864281575228],[-1.569855442187062,-1.5998604078018637,1.5424686096212743,-1.513167763272497,-1.57081642803536,0.0009408427937502541],[-1.5698540524054752,-1.6001088924567992,1.54705916301744,-1.5175106253417974,-1.5708162785657243,0.0009422336178007773],[-1.5698527304983694,-1.6003398120540562,1.5516319478810034,-1.521853283385138,-1.5708161293747598,0.0009435566177085082],[-1.56985147880601,-1.6005531598590639,1.5561870548685228,-1.5261958338557524,-1.5708159805396325,0.0009448094542670801],[-1.569850299742052,-1.600748927099406,1.5607245712346387,-1.5305383719543173,-1.570815832127302,0.0009459897148649658],[-1.5698491958112843,-1.6009271029197267,1.5652445808512048,-1.5348809916819066,-1.5708156841955703,0.0009470948957995793],[-1.5698481696285576,-1.601087674324753,1.5697471642093335,-1.5392237858889193,-1.570815536794027,0.0009481223834005014],[-1.5698472239392323,-1.601230626108843,1.5742323984033566,-1.5435668463204495,-1.5708153899648931,0.0009490694336350416],[-1.5698463620944691,-1.601355913491399,1.57870024772067,-1.5479101819037964,-1.5708152437205447,0.0009499326985533683],[-1.5698455867761185,-1.6014635150301573,1.583150764057422,-1.5522538655970306,-1.5708150980885929,0.0009507094971243522],[-1.5698449011690416,-1.6015534117635295,1.5875840171396032,-1.5565979856861794,-1.5708149530977606,0.0009513966462182333],[-1.5698443087966585,-1.6016255822216385,1.592000073796738,-1.5609426301219251,-1.5708148087722196,0.0009519906247353984],[-1.5698438134578216,-1.6016800023438682,1.5963989973008066,-1.5652878859403339,-1.5708146651315567,0.0009524876365462852],[-1.5698434192619048,-1.6017166453018346,1.6007808471752167,-1.5696338392442926,-1.570814522191198,0.0009528835754413193],[-1.5698431306763263,-1.601735481285741,1.6051456790134362,-1.573980575231493,-1.5708143799628176,0.0009531739776834969],[-1.5698429525828332,-1.601736477246111,1.609493544254891,-1.5783281782248566,-1.5708142384546937,0.0009533539658012297],[-1.5698428903442412,-1.6017195965805318,1.6138244899052785,-1.582676731702914,-1.570814097672022,0.0009534181819504417],[-1.56984294988432,-1.6016847987519098,1.6181385581881504,-1.587026318330476,-1.5708139576171765,0.0009533607081479322],[-1.5698431377843407,-1.6016320388204948,1.6224357861106222,-1.5913770199902013,-1.5708138182899254,0.0009531749698685729],[-1.5698434614009866,-1.601561266866153,1.6267162049204578,-1.5957289178158498,-1.5708136796876022,0.0009528536183168147],[-1.5698439290119133,-1.6014724272692766,1.6309798394238764,-1.6000820922282202,-1.570813541805226,0.0009523883850927576],[-1.569844549997566,-1.601365457807263,1.635226707122231,-1.604436622975069,-1.5708134046355695,0.0009517699006647706],[-1.5698453350711488,-1.601240288507013,1.6394568171096524,-1.608792589176771,-1.5708132681691633,0.0009509874647721909],[-1.5698462965735396,-1.6010968401696526,1.6436701686500967,-1.6131500693801355,-1.5708131323942318,0.0009500287519985884],[-1.569847448857274,-1.6009350224473962,1.6478667493168715,-1.6175091416238216,-1.5708129972965321,0.0009488794284274512],[-1.5698488087950375,-1.600754731296784,1.6520465325233946,-1.6218698835202927,-1.57081286285908,0.0009475226440287349],[-1.569850396465947,-1.6005558455448947,1.6562094741885371,-1.6262323723617218,-1.570812729061705,0.0009459383475675105],[-1.5698522361019795,-1.6003382221631888,1.6603555081414711,-1.6305966852611564,-1.5708125958803796,0.000944102341862234],[-1.5698543574258177,-1.6001016896059155,1.6644845396391423,-1.6349628993468068,-1.5708124632862037,0.0009419849483596434],[-1.56985679759691,-1.599846038156571,1.668596435966297,-1.639331092038714,-1.570812331243867,0.0009395490646733589],[-1.5698585632494837,-1.5996776197449583,1.6687807734063929,-1.6397032209422275,-1.5708108227061914,0.0009377854170046737],[-1.5698600963808023,-1.5995427779382276,1.6686672878166673,-1.639743676042276,-1.5708093564664036,0.0009362529709979458],[-1.5698614651414782,-1.5994334972814919,1.6685769281385046,-1.6397797888014636,-1.57080804739225,0.000934884457219574],[-1.569862688414997,-1.5993453643452482,1.6685054877741288,-1.6398119654004768,-1.5708068772043415,0.000933661170774084],[-1.5698637830181776,-1.599274417920228,1.668449237867358,-1.6398406159119312,-1.570805829833916,0.0009325663602609644],[-1.5698647636201701,-1.59921740900226,1.6684051523647552,-1.6398661205971061,-1.5708048912962607,0.0009315854011885551],[-1.5698656430219036,-1.5991716918550372,1.6683707925206022,-1.6398888263598388,-1.5708040493942195,0.0009307055264869285],[-1.5698664324241902,-1.599135114271545,1.6683441945880393,-1.6399090463625055,-1.5708032934570568,0.0009299155617038182],[-1.5698671416547891,-1.599105926481215,1.6683237780529057,-1.6399270611925865,-1.5708026141218172,0.0009292056999605592],[-1.5698677793591669,-1.599082706689016,1.6683082716225077,-1.6399431208925144,-1.570802003150513,0.0009285673125981793],[-1.5698683531612145,-1.599064300299967,1.668296653549223,-1.639957447424265,-1.5708014532766172,0.0009279927894638419],[-1.569868869799168,-1.5990497703285003,1.6682881034781865,-1.6399702372929112,-1.570800958075567,0.0009274754037017535],[-1.569869335241007,-1.5990383569433517,1.6682819635687571,-1.6399816641560023,-1.570800511855025,0.0009270091968588527],[-1.5698697547827924,-1.5990294444731243,1.6682777070882504,-1.639991881314965,-1.57080010956149,0.0009265888809165927],[-1.5698701331327727,-1.599022534503893,1.6682749130329233,-1.6400010240309832,-1.570799746700487,0.0009262097544427335],[-1.5698704744835772,-1.5990172239504181,1.6682732456150322,-1.6400092116382667,-1.5707994192680963,0.0009258676305950446],[-1.5698707825629972,-1.5990131991897036,1.6682724494534853,-1.6400165504695212,-1.5707991236835577,0.0009255587957337128],[-1.569871060729151,-1.5990101851655971,1.6682723006092115,-1.6400231328229962,-1.5707988567660394,0.0009252798862415422],[-1.5698713119619159,-1.599007965254779,1.6682726266654337,-1.6400290402819504,-1.5707986156617242,0.0009250279226141837],[-1.5698715389363795,-1.5990063705791762,1.6682732970785965,-1.6400343454779123,-1.5707983978108255,0.0009248002332817619],[-1.5698717440482042,-1.599005265800248,1.668274209881064,-1.6400391127601275,-1.5707982009202217,0.0009245944257526006],[-1.5698719294466732,-1.599004542354477,1.6682752856001277,-1.6400433991692358,-1.5707980229321512,0.0009244083532491391],[-1.5698720970619098,-1.59900411333866,1.6682764627241362,-1.6400472553185865,-1.5707978619983085,0.0009242400875485594],[-1.5698722486286392,-1.5990039093797617,1.6682776940730812,-1.6400507261677268,-1.5707977164571896,0.0009240878953096276],[-1.5698723857071115,-1.5990038752769358,1.6682789438721224,-1.640053851698588,-1.5707975848141305,0.0009239502172262192],[-1.5698725097015929,-1.5990039672706011,1.6682801853920401,-1.640056667506198,-1.5707974657236614,0.0009238256496035406],[-1.5698726218767263,-1.599004150822889,1.6682813990490524,-1.6400592053147944,-1.5707973579738905,0.0009237129280561293],[-1.569872723372046,-1.5990043988152085,1.6682825708769276,-1.6400614934289888,-1.5707972604726432,0.0009236109130463244],[-1.5698728152148707,-1.5990046900859127,1.6682836913006742,-1.6400635571284612,-1.5707971722351486,0.0009235185770303337],[-1.56987289833178,-1.5990050082450853,1.668284754154324,-1.6400654190135973,-1.5707970923730759,0.0009234349930268324],[-1.5698729735588353,-1.5990053407150393,1.6682857558961415,-1.6400670993085131,-1.5707970200847654,0.0009233593244221011],[-1.5698730416507103,-1.599005677954503,1.6682866949833324,-1.6400686161270739,-1.5707969546465004,0.0009232908158737031],[-1.569873103288845,-1.599006012832188,1.6682875713754508,-1.6400699857067422,-1.5707968954047133,0.0009232287851795084],[-1.5698731590887427,-1.5990063401217653,1.668288386141532,-1.6400712226144547,-1.5707968417690041,0.0009231726160016471],[-1.5698732091695828,-1.5990066616824996,1.6682891387861123,-1.640072324469082,-1.570796793823378,0.0009231221763204495],[-1.5698732506462174,-1.599007084124708,1.6682899221875578,-1.6400733122733093,-1.5707967612345435,0.0009230805277487238],[-1.5698732891058131,-1.5990074613461716,1.6682906345631892,-1.6400742261374552,-1.5707967291443083,0.0009230423922047727],[-1.5698733259341833,-1.599007784439652,1.6682912596972652,-1.6400750430847066,-1.570796694569304,0.0009230057847629343],[-1.5698733591152252,-1.599008090751935,1.6682918339355712,-1.6400757789207325,-1.5707966636771764,0.0009229729351316494],[-1.5698733890769583,-1.5990083755818458,1.6682923592521273,-1.640076446170108,-1.5707966358572087,0.0009229433698865521],[-1.5698890869827407,-1.6020876136697006,1.6242216895412216,-1.5931403767291759,-1.5707818319460687,0.0009072783149568881],[-1.5698880802347943,-1.602191865828773,1.6231661600564455,-1.5919795031299906,-1.5707818923932695,0.0009082777537724278],[-1.5698924329467305,-1.6022609444483955,1.619603421187206,-1.5883467779105338,-1.5707819002026593,0.000903931191484019],[-1.5698974134923995,-1.6023395684399717,1.615373099845065,-1.584038257535955,-1.5707817847047307,0.0008989586798100556],[-1.5698975172544507,-1.6024004948971535,1.6111016416746724,-1.579706500442205,-1.5707816439703415,0.0008988512707955441],[-1.5698973795818403,-1.6024437554897597,1.6068121408032425,-1.5753743772628135,-1.5707815026536007,0.0008989850404622748],[-1.5698972408088416,-1.6024693501544411,1.6025059014890932,-1.5710431829079972,-1.5707813619887452,0.000899120266356696],[-1.5698971133134618,-1.6024772857827034,1.5981829286707174,-1.5667129155799222,-1.5707812218935937,0.0008992445702587869],[-1.5698969972948076,-1.6024675684658622,1.5938431515998766,-1.5623834990881087,-1.5707810822293544,0.0008993577224439778],[-1.5698968925457506,-1.6024402031864455,1.5894864936707669,-1.5580548524704099,-1.5707809428673667,0.0008994599007317547],[-1.569896798832565,-1.6023951937033454,1.58511287616637,-1.5537268938308435,-1.5707808036900037,0.0008995513118672988],[-1.5698967159228046,-1.60233254252411,1.580722218337175,-1.5493995404498562,-1.5707806645895577,0.0008996321635667407],[-1.5698966435913093,-1.6022522508956936,1.5763144373856715,-1.5450727087823466,-1.5707805254671752,0.0008997026583675704],[-1.5698965816194685,-1.6021543187898466,1.571889448435049,-1.5407463144449414,-1.5707803862318757,0.0008997629942183974],[-1.5698965297940084,-1.6020387448851692,1.5674471644880499,-1.536420272196436,-1.570780246799672,0.0008998133655354478],[-1.5698964879058726,-1.6019055265473419,1.5629874963844632,-1.5320944959183629,-1.5707801070927856,0.0008998539641848513],[-1.5698964557491817,-1.6017546598074297,1.5585103527573787,-1.5277688985959403,-1.5707799670389475,0.000899884980388893],[-1.5698964331202458,-1.6015861393381754,1.5540156399875997,-1.5234433922989157,-1.57077982657077,0.0008999066035851389],[-1.5698964198166163,-1.60139995842828,1.5495032621560962,-1.5191178881622167,-1.5707796856251846,0.0008999190232587088],[-1.5698964151994712,-1.6011961398937473,1.5449732207546003,-1.5147923648604629,-1.5707795441693844,0.0008999228657508388],[-1.569896419343304,-1.6009746867193284,1.5404254591719293,-1.5104667629839341,-1.5707794021580344,0.0008999180467498182],[-1.5698964322531923,-1.6007355874692195,1.5358598753124966,-1.5061409922042712,-1.570779259535518,0.0008999045519751685],[-1.5698964537174986,-1.6004788294452843,1.5312763640985998,-1.5018149604652498,-1.5707791162482416,0.0008998825841963311],[-1.569896483513111,-1.6002043983682728,1.5266748178106169,-1.4974885746371762,-1.5707789722451135,0.0008998523584434139],[-1.5698965214139529,-1.5999122783419848,1.5220551260953346,-1.4931617405623558,-1.570778827477267,0.0008998140934512918],[-1.5698965671906266,-1.5996024518105711,1.5174171759033142,-1.4888343630367655,-1.5707786818977556,0.0008997680119473919],[-1.569896620609467,-1.5992748995130124,1.5127608514197477,-1.484506345787923,-1.5707785354612749,0.0008997143415397745],[-1.569896681431562,-1.5989296004343871,1.5080860339914863,-1.480177591452025,-1.5707783881239046,0.0008996533156377687],[-1.5698967494117504,-1.5985665317536866,1.5033926020501323,-1.475848001550491,-1.5707782398428767,0.0008995851744004347],[-1.5698968242976008,-1.5981856687878935,1.498680431030886,-1.471517476465904,-1.57077809057636,0.0008995101657137408],[-1.5698969058283503,-1.5977869849320028,1.493949393286759,-1.467185915417293,-1.5707779402832596,0.0008994285462032931],[-1.5698969937338045,-1.5973704515946134,1.4891993579977307,-1.4628532164347146,-1.5707777889230337,0.0008993405822973917],[-1.5698970877331742,-1.5969360381286475,1.4844301910743665,-1.458519276333095,-1.5707776364555215,0.0008992465513525269],[-1.5698971875338525,-1.5964837117567137,1.4796417550553604,-1.4541839906853118,-1.5707774828407817,0.0008991467428409642],[-1.5698972928301067,-1.5960134374905286,1.4748339089983638,-1.44984725379444,-1.57077732803894,0.000899041459633116],[-1.5698974033016748,-1.595525178043732,1.4700065083633895,-1.4455089586651542,-1.5707771720100434,0.0008989310193663486],[-1.5698975186122541,-1.5950188937373246,1.4651594048879841,-1.4411689969742334,-1.570777014713921,0.0008988157559347179],[-1.5698976384078551,-1.594494542396826,1.4602924464532054,-1.4368272590401323,-1.57077685611005,0.0008986960211102675],[-1.56989776231501,-1.5939520792401038,1.4554054769393117,-1.432483633791572,-1.5707766961574217,0.0008985721863124749],[-1.569897889938803,-1.5933914567546557,1.450498336069912,-1.4281380087351325,-1.5707765348144134,0.0008984446445569123],[-1.5698980208607,-1.592812624562885,1.4455708592430547,-1.4237902699217835,-1.5707763720386547,0.0008983138126080195],[-1.5698981546361437,-1.5922155292736855,1.4406228773475274,-1.4194403019123245,-1.570776207786898,0.0008981801333650649],[-1.5698982907918797,-1.5916001143183125,1.435654216562312,-1.4150879877417053,-1.5707760420148813,0.0008980440785189111],[-1.5698984288229691,-1.590966319768142,1.4306646981367328,-1.410733208882174,-1.5707758746771865,0.0008979061515278444],[-1.5698985681894286,-1.59031408213146,1.4256541381484165,-1.4063758452052435,-1.5707757057270944,0.0008977668909546612],[-1.5698987083124545,-1.5896433341258158,1.4206223472355315,-1.402015774942408,-1.5707755351164234,0.0008976268742350028],[-1.5698988485701402,-1.5889540044217905,1.4155691302991462,-1.3976528746446277,-1.570775362795362,0.0008974867219424686],[-1.5698989882926113,-1.5882460173530926,1.4104942861705616,-1.3932870191405295,-1.5707751887122816,0.0008973471026402008],[-1.5698991267564708,-1.5875192925867772,1.405397607237395,-1.3889180814933253,-1.5707750128135318,0.0008972087384183942],[-1.5698992631784279,-1.5867737447459356,1.4002788790207434,-1.3845459329564496,-1.5707748350432116,0.0008970724112537294],[-1.569899396707952,-1.5860092829753472,1.3951378796939153,-1.3801704429279495,-1.5707746553429074,0.0008969389703380532],[-1.5698995264187714,-1.5852258104382024,1.3899743795308432,-1.375791478903648,-1.5707744736513989,0.0008968093405623042],[-1.569899651298971,-1.5844232237288967,1.3847881402692348,-1.3714089064291952,-1.570774289904314,0.0008966845323991579],[-1.5698997702394075,-1.5836014121827917,1.3795789143694184,-1.3670225890511158,-1.5707741040337257,0.0008965656534711004],[-1.5698998820200667,-1.5827602570583965,1.3743464441444844,-1.362632388267064,-1.5707739159676806,0.0008964539221669229],[-1.5698999852939133,-1.5818996305601112,1.3690904607300811,-1.3582381634756056,-1.5707737256296277,0.0008963506837633008],[-1.5699000785676347,-1.5810193946596707,1.3638106828523255,-1.353839771925957,-1.5707735329377333,0.0008962574296517274],[-1.5699001601785307,-1.5801193996606824,1.358506815338721,-1.349437068668343,-1.5707733378040398,0.0008961758204125106],[-1.5699002282665773,-1.5791994824313678,1.3531785472979483,-1.3450299065059488,-1.5707731401334237,0.0008961077137055192],[-1.569900280740379,-1.5782594642031884,1.3478255498673237,-1.3406181359498688,-1.5707729398222903,0.000896055198260608],[-1.56990031523534,-1.5772991477933418,1.3424474733875966,-1.336201605179162,-1.5707727367569069,0.000896020635641515],[-1.5699003290618063,-1.5763183140505257,1.3370439438070343,-1.33178016000916,-1.5707725308112546,0.0008960067120214377],[-1.5699003191401728,-1.575316717235068,1.331614558029843,-1.3273536438728255,-1.5707723218442022,0.0008960165029685582],[-1.5699002819188734,-1.5742940789082098,1.3261588777898534,-1.3229218978226083,-1.570772109695727,0.000896053555319038],[-1.5699002132696747,-1.5732500796892563,1.3206764214180176,-1.3184847605645682,-1.570771894181756,0.0008961219917144593],[-1.5699001083526278,-1.5721843478863693,1.3151666525256027,-1.3140420685439393,-1.570771675086963,0.0008962266454188534],[-1.5698999614402143,-1.571096443410081,1.309628964039319,-1.309593656114245,-1.570771452154449,0.0008963732358768077],[-1.5698991546659935,-1.5702607538588378,1.3056740170480385,-1.3064681715789972,-1.5707719413618966,0.0008971780381523244],[-1.5698969648247192,-1.5700604605550779,1.30540891507192,-1.3063801759915756,-1.5707740352330317,0.0008993621683654841],[-1.569894940532983,-1.5698913993692638,1.3051835971119319,-1.3063026500500765,-1.5707759707717164,0.0009013809972974802],[-1.5698930780976057,-1.5697507092013125,1.3049945275464796,-1.306234843467365,-1.5707777523265258,0.0009032389042074476],[-1.5698913669618366,-1.569633632347467,1.3048358841975987,-1.306175541821899,-1.5707793896124238,0.0009049463861278533],[-1.5698897970087153,-1.5695360944963,1.3047026465788971,-1.3061236629578052,-1.5707808921658273,0.0009065134593554652],[-1.5698883583991985,-1.5694547222782715,1.3045906131452427,-1.3060782520985352,-1.5707822693013969,0.0009079498627606046],[-1.5698870416340467,-1.5693867336648806,1.3044962822257582,-1.3060384716521165,-1.5707835300323898,0.0009092650016867216],[-1.5698858376167657,-1.5693298347756666,1.3044167378861518,-1.3060035899194333,-1.5707846830043324,0.0009104678867500437],[-1.6073100881475237,-1.5832046638490203,1.3347784906884792,-1.322345295630512,-1.5708875148064783,-0.03642775543074719],[-1.608537464045183,-1.5832602971873393,1.333446271502168,-1.3209584016171965,-1.570860231654626,-0.03765554941854843],[-1.611874634651187,-1.5840485429036784,1.3338049075143008,-1.320529120942127,-1.5708547406628584,-0.04099293171004931],[-1.61546448174218,-1.5848142327383041,1.334383413230654,-1.3203425573329903,-1.5708583872544788,-0.04458262582350847],[-1.6190551328479978,-1.585566357786767,1.3349781634197544,-1.3201856388493451,-1.5708627984196148,-0.048173129211664584],[-1.6226478617625593,-1.58630433573243,1.335560784744914,-1.3200307567015943,-1.5708668924016058,-0.05176572076543198],[-1.626242098515351,-1.5870281153904864,1.336128717293738,-1.3198754095174952,-1.570870604258345,-0.05535983074176715],[-1.6298377105854587,-1.5877376622261457,1.3366817220595197,-1.3197193900959254,-1.5708739598893362,-0.05895532579217416],[-1.6334345903244647,-1.5884329459703754,1.3372197993676416,-1.3195627254013522,-1.570876991567699,-0.06255209746338246],[-1.6370326319807045,-1.5891139372186278,1.3377429705611916,-1.3194054628535128,-1.5708797294137213,-0.06615003928828736],[-1.6406317309079779,-1.5897806075567413,1.3382512570947702,-1.319247649433068,-1.5708822008118257,-0.069749045986127],[-1.6442317833015958,-1.590432929598342,1.3387446792048943,-1.3190893302711946,-1.5708844306030783,-0.07334901318942695],[-1.6478326860656605,-1.591070876894473,1.3392232558390558,-1.3189305486196867,-1.5708864413104446,-0.07694983730297048],[-1.651434336736454,-1.591694423860636,1.3396870046882539,-1.3187713459135668,-1.5708882533485191,-0.08055141541973845],[-1.6550366334161903,-1.5923035457213706,1.3401359422649621,-1.3186117618664188,-1.5708898852167077,-0.08415364524809243],[-1.658639474713429,-1.5928982184611842,1.3405700839784607,-1.318451834561164,-1.570891353675536,-0.0877564250464131],[-1.66224275968975,-1.5934784187808875,1.3409894442008958,-1.3182916005301502,-1.5708926739071967,-0.0913596535646897],[-1.6658463878121597,-1.5940441240592473,1.341394036326874,-1.3181310948269804,-1.5708938596617192,-0.09496322999245262],[-1.6694502589108036,-1.5945953123193033,1.3417838728274087,-1.3179703510911696,-1.5708949233899887,-0.0985670539125557],[-1.6730542731415916,-1.595131962198716,1.3421589652985408,-1.3178094016061983,-1.570895876364724,-0.10217102526033536],[-1.6766583309533272,-1.5956540529236747,1.3425193245050784,-1.3176482773515972,-1.5708967287904596,-0.10577504428769392],[-1.6802623330589916,-1.596161564285918,1.342864960419865,-1.3174870080496073,-1.570897489903484,-0.10937901153169735],[-1.6838661804108483,-1.596654476622492,1.3431958822589765,-1.3173256222069523,-1.5708981680626173,-0.11298282778731182],[-1.6874697741790274,-1.5971327707979153,1.3435120985131808,-1.3171641471521653,-1.570898770831639,-0.1165863940839047],[-1.6910730157333334,-1.5975964281884534,1.3438136169759742,-1.3170026090688807,-1.5708993050541127,-0.12018961166520614],[-1.6946758066279775,-1.5980454306682457,1.3441004447684997,-1.3168410330254714,-1.5708997769212778,-0.1237923819724139],[-1.698278048589,-1.5984797605970555,1.3443725883615953,-1.3166794430013666,-1.570900192033647,-0.12739460663017563],[-1.701879643504137,-1.5988994008094348,1.344630053595206,-1.3165178619103357,-1.5709005554568711,-0.13099618743518238],[-1.705480493414929,-1.5993043346051388,1.3448728456953993,-1.3163563116210402,-1.570900871772391,-0.1345970263471451],[-1.709080500510871,-1.599694545740603,1.3451009692891418,-1.316194812975065,-1.5709011451233583,-0.13819702548194257],[-1.7126795671254142,-1.600070018421374,1.3453144284170473,-1.3160333858026834,-1.5709013792562574,-0.14179608710673566],[-1.7162775957336627,-1.6004307372953306,1.345513226544228,-1.3158720489365314,-1.5709015775586195,-0.1453941136368701],[-1.7198744889515991,-1.600776687446609,1.345697366569402,-1.3157108202233865,-1.570901743093195,-0.14899100763439713],[-1.7234701495367075,-1.6011078543901107,1.3458668508323797,-1.315549716534202,-1.5709018786289093,-0.1525866718080699],[-1.7270644803898525,-1.6014242240665097,1.3460216811200338,-1.3153887537725517,-1.5709019866688976,-0.15618100901466508],[-1.7306573845582975,-1.6017257828376699,1.3461618586708692,-1.315227946881612,-1.5709020694758993,-0.15977392226149645],[-1.734248765239754,-1.6020125174823976,1.3462873841782501,-1.31506730984979,-1.5709021290952467,-0.16336531471001908],[-1.7378385257873539,-1.6022844151924651,1.3463982577923936,-1.314906855715122,-1.5709021673756807,-0.1669550896804039],[-1.74142656971545,-1.6025414635688315,1.3464944791211648,-1.314746596568511,-1.570902185988195,-0.17054315065697823],[-1.7450128007061654,-1.6027836506180142,1.34657604722975,-1.3145865435559059,-1.5709021864430903,-0.17412940129445567],[-1.748597122616598,-1.6030109647485467,1.3466429606392336,-1.3144267068794733,-1.5709021701054124,-0.1777137454248499],[-1.7521794394866168,-1.6032233947674859,1.3466952173241487,-1.3142670957978568,-1.5709021382089206,-0.1812960870650166],[-1.7557596555471742,-1.6034209298769078,1.3467328147089817,-1.3141077186255359,-1.5709020918687289,-0.1848763304247304],[-1.7593376752290744,-1.6036035596703597,1.3467557496637055,-1.3139485827313693,-1.5709020320927412,-0.18845437991524755],[-1.762913403172134,-1.603771274129224,1.3467640184983132,-1.313789694536338,-1.5709019597919989,-0.192030140158275],[-1.7664867442346843,-1.6039240636189516,1.3467576169563835,-1.313631059510531,-1.5709018757900401,-0.19560351599530784],[-1.770057603503354,-1.60406191888513,1.3467365402076599,-1.3134726821693854,-1.5709017808313646,-0.1991744124972596],[-1.7736258863031011,-1.6041848310493552,1.3467007828396589,-1.3133145660692218,-1.5709016755890908,-0.20274273497435322],[-1.7771914982074275,-1.6042927916048535,1.3466503388482545,-1.3131567138020523,-1.57090156067188,-0.20630838898621692],[-1.7807543450487484,-1.604385792411842,1.3465852016272664,-1.312999126989709,-1.5709014366301972,-0.20987128035214295],[-1.7843143329288726,-1.6044638256925714,1.3465053639569684,-1.3128418062772433,-1.5709013039619717,-0.21343131516146321],[-1.787871368229544,-1.6045268840260252,1.3464108179915222,-1.3126847513256317,-1.5709011631177163,-0.21698839978400647],[-1.7914253576230281,-1.60457496034224,1.3463015552452675,-1.3125279608037472,-1.5709010145051512,-0.22054244088060124],[-1.794976208082688,-1.6046080479161982,1.3461775665778122,-1.3123714323795772,-1.570900858493388,-0.22409334541357773],[-1.798523826893524,-1.6046261403612683,1.3460388421778797,-1.3122151627106748,-1.5709006954167084,-0.2276410206572449],[-1.8020681216626426,-1.6046292316221384,1.3458853715458179,-1.3120591474337966,-1.5709005255779775,-0.2311853742083017],[-1.8056090003296243,-1.6046173159672057,1.345717143474697,-1.3119033811536849,-1.5709003492517315,-0.23472631399614596],[-1.8091463711767484,-1.6045903879803745,1.3455341460298933,-1.3117478574309402,-1.5709001666869624,-0.238263748293061],[-1.8126801428390558,-1.6045484425522103,1.345336366527062,-1.3115925687689418,-1.5708999781096376,-0.2417975857242308],[-1.8162102243141973,-1.604491474870397,1.3451237915083656,-1.3114375065997215,-1.570899783724971,-0.24532773527755133],[-1.8197365249720572,-1.6044194804094338,1.3448964067168248,-1.3112826612687312,-1.570899583719477,-0.24885410631322286],[-1.823258954564098,-1.6043324549195193,1.3446541970686396,-1.3111280220184063,-1.5708993782628207,-0.25237660857306554],[-1.8267774232323988,-1.6042303944145335,1.3443971466233018,-1.3109735769704174,-1.5708991675094914,-0.25589515218953174],[-1.8302918415183564,-1.6041132951590567,1.3441252385513045,-1.3108193131064974,-1.5708989516003078,-0.2594096476943838],[-1.833802120370995,-1.6039811536543267,1.343838455099233,-1.3106652162477124,-1.5708987306637776,-0.262920006026988],[-1.8373081711548553,-1.6038339666230441,1.3435367775519835,-1.3105112710320177,-1.5708985048173223,-0.2664261385421822],[-1.8408099056574139,-1.6036717309929198,1.3432201861918345,-1.3103574608899344,-1.5708982741683806,-0.26992795701768496],[-1.8443072360959851,-1.6034944438788339,1.3428886602540528,-1.3102037680181478,-1.5708980388153988,-0.2734253736609885],[-1.8478000751240566,-1.6033021025634888,1.3425421778786903,-1.3100501733508165,-1.570897798848726,-0.27691830111568116],[-1.851288335836993,-1.6030947044763877,1.3421807160581476,-1.3098966565283265,-1.5708975543514134,-0.2804066524671468],[-1.854771931777056,-1.602872247170981,1.341804250580074,-1.3097431958632244,-1.5708973053999347,-0.2838903412475812],[-1.8582507769376628,-1.6026347282997755,1.3414127559650684,-1.309589768302995,-1.5708970520648295,-0.2873692814402482],[-1.8617247857668118,-1.6023821455871947,1.3410062053986025,-1.309436349389324,-1.57089679441128,-0.2908433874829059],[-1.8651938731695814,-1.6021144967999368,1.3405845706564807,-1.3092829132134154,-1.5708965324996231,-0.2943125742703063],[-1.8686579545096107,-1.6018317797145416,1.3401478220230902,-1.309129432366899,-1.5708962663858077,-0.29777675715568325],[-1.8721169456094489,-1.6015339920818388,1.3396959282015257,-1.3089758778877503,-1.5708959961218008,-0.30123585195110697],[-1.8755707627496472,-1.6012211315879057,1.3392288562146042,-1.3088222192006163,-1.5708957217559396,-0.3046897749265863],[-1.8790193226664442,-1.600893195811085,1.3387465712955706,-1.3086684240507886,-1.5708954433332478,-0.30813844280776176],[-1.8824625425478907,-1.6005501821745736,1.3382490367671498,-1.308514458430983,-1.5708951608957038,-0.31158177277205035],[-1.8859003400282073,-1.6001920878939813,1.3377362139073576,-1.3083602864999382,-1.5708948744824731,-0.3150196824430151],[-1.8893326331801668,-1.5998189099191884,1.337208061800234,-1.308205870491675,-1.5708945841301047,-0.31845208988276913],[-1.8927593405052303,-1.5994306448696882,1.3366645371693253,-1.308051170614064,-1.570894289872692,-0.3218789135821356],[-1.896180380921141,-1.5990272889624835,1.3361055941914017,-1.3078961449351223,-1.5708939917419995,-0.32530007244826675],[-1.8995956737466158,-1.5986088379314136,1.3355311842873827,-1.3077407492551478,-1.5708936897675598,-0.3287154857893683],[-1.9030051386827151,-1.598175286936604,1.3349412558869542,-1.3075849369624932,-1.5708933839767352,-0.3321250732961027],[-1.906408695790381,-1.5977266304624589,1.3343357541626142,-1.307428658870304,-1.570893074394748,-0.335528755019172],[-1.909806265463554,-1.5972628622023142,1.333714620728089,-1.3072718630310682,-1.5708927610446797,-0.33892645134247984],[-1.9131977683971408,-1.5967839749274928,1.3330777932950386,-1.3071144945251674,-1.5708924439474277,-0.34231808295115473],[-1.916583125548955,-1.596289960338005,1.3324252052806387,-1.3069564952187886,-1.5708921231216346,-0.3457035707935542],[-1.9199622580945859,-1.5957808088915664,1.3317567853570744,-1.3067978034856078,-1.570891798583568,-0.34908283603620965],[-1.9233350873738848,-1.5952565096068352,1.3310724569319305,-1.306638353885344,-1.570891470346957,-0.3524558000103982],[-1.9267015348274636,-1.5947170498358147,1.330372137545901,-1.3064780767907054,-1.5708911384227797,-0.35582238414874356],[-1.930061521921236,-1.5941624149991618,1.3296557381709535,-1.3063168979521869,-1.5708908028189825,-0.35918250990987366],[-1.933414970056497,-1.593592588276533,1.328923162387844,-1.3061547379875336,-1.570890463540137,-0.36253609868864844],[-1.93676180046242,-1.5930075502420802,1.3281743054163666,-1.3059915117792444,-1.5708901205870052,-0.36588307170882156],[-1.9401019340669696,-1.5924072784324685,1.3274090529644225,-1.3058271277589295,-1.5708897739560028,-0.3692233498941571],[-1.9434352913411164,-1.591791746831223,1.326627279852409,-1.3056614870513563,-1.5708894236385353,-0.37255685371289293],[-1.9467617921096911,-1.59116092524836,1.3258288483563823,-1.3054944824428787,-1.570889069620174,-0.37588350298889234],[-1.9500813553201641,-1.5905147785677085,1.3250136061958824,-1.3053259971279774,-1.5708887118796317,-0.37920321667079504],[-1.9533938987577506,-1.589853265825251,1.3241813840679422,-1.3051559031724385,-1.5708883503874744,-0.3825159125475818],[-1.9566993386912603,-1.5891763390691673,1.3233319925948483,-1.3049840596105158,-1.5708879851045041,-0.3858215068949983],[-1.9599975894284032,-1.588483941934258,1.3224652185049164,-1.3048103100632895,-1.5708876159796918,-0.38911991403159363],[-1.9632885627510712,-1.5877760078374532,1.3215808197958014,-1.3046344797219258,-1.5708872429475174,-0.3924110457549476],[-1.9665721671889789,-1.5870524576627967,1.3206785195271045,-1.3044563714754673,-1.5708868659245028,-0.3956948106165301],[-1.9698483070718538,-1.586313196746743,1.3197579977345444,-1.3042757608664335,-1.5708864848046171,-0.39897111297552507],[-1.973116881272279,-1.5855581108859287,1.318818880720083,-1.3040923894091863,-1.5708860994531013,-0.4022398517438589],[-1.9763777815069357,-1.5847870609494432,1.3178607265963893,-1.3039059555715944,-1.5708857096979911,-0.405500918690448],[-1.9796308899916595,-1.583999875449455,1.3168830053519007,-1.3037161023389268,-1.5708853153182363,-0.4087541961004819],[-1.9828760761238642,-1.5831963400397444,1.3158850706717717,-1.3035223996362642,-1.570884916026619,-0.4119995534639194],[-1.985818079655182,-1.5824368149491057,1.3149443818926367,-1.3033416131548774,-1.5708837662823203,-0.4149424090073401],[-1.9857589015126145,-1.5822949221583564,1.3147983556519098,-1.3033344431111056,-1.570875189799889,-0.4148909092014752],[-1.9857093466225462,-1.5821768506439746,1.3146763593148934,-1.3033279350317524,-1.5708679289831031,-0.41484832565317276],[-1.9856691695141975,-1.5820804162954718,1.3145762800538459,-1.3033217687336744,-1.5708614094448055,-0.41481443162210574],[-1.985636786047336,-1.5820016870602054,1.3144942263723434,-1.3033160205689789,-1.5708554314096141,-0.4147877121505651],[-1.9856107757017807,-1.5819374004903857,1.3144269378544202,-1.3033107167639255,-1.5708499505164504,-0.4147668091406419],[-1.9855899555891958,-1.5818848927652884,1.3143717385185159,-1.303305859700081,-1.57084493678802,-0.4147505956576211],[-1.9855733518781824,-1.581841992861199,1.3143264378536437,-1.3033014371287837,-1.5708403603698213,-0.414738148008026],[-1.9855601656370034,-1.5818069315471759,1.3142892434357445,-1.3032974277708562,-1.570836190935367,-0.41472871220891805],[-1.9738461736403419,-1.5958530548395582,1.3766327473603308,-1.3512995843966453,-1.5708287345352712,-0.40304497261506134],[-1.9743867323255444,-1.5958091740281857,1.3768943277514312,-1.3516107778826636,-1.5708265929881875,-0.4035852276249789],[-1.9745448780961452,-1.5959593729585837,1.3790197173296639,-1.3535966770092296,-1.5708223572577678,-0.40374337568963664],[-1.9746938413417887,-1.5967641095174643,1.3839294630804513,-1.357703606112648,-1.5708218810416916,-0.40389247964935143],[-1.974858540987394,-1.5975916423690182,1.3891619757324591,-1.3621085330712877,-1.5708221983580706,-0.40405729291232156],[-1.9750269810036276,-1.5983993185155554,1.3943917142991593,-1.3665305308570592,-1.5708225155258178,-0.4042258254387792],[-1.975195681549006,-1.5991884448763476,1.3996005997851986,-1.3709503410172974,-1.5708227814402862,-0.40439460707135694],[-1.9753643861519627,-1.5999590919736766,1.4047870347607887,-1.3753662938974283,-1.5708229976772619,-0.4045633833432321],[-1.975533076350891,-1.6007113246757871,1.4099511191027654,-1.3797784122711463,-1.5708231698531372,-0.4047321370394017],[-1.9757017537914805,-1.6014452018750998,1.4150930864241347,-1.3841868589550248,-1.5708233032375536,-0.40490087083475235],[-1.9758704217885847,-1.6021607785459235,1.4202131710832444,-1.3885918025920807,-1.5708234024679604,-0.4050695889242453],[-1.9760390836185915,-1.602858106192662,1.4253115978966873,-1.3929934068690215,-1.570823471608087,-0.40523829534204797],[-1.9762077423553757,-1.6035372330301652,1.430388582028664,-1.397391830116201,-1.5708235142232028,-0.40540699381676404],[-1.97637640087207,-1.6041982041167566,1.4354443295758803,-1.4017872256567063,-1.5708235334462965,-0.4055756877888804],[-1.9765450618551967,-1.6048410614839521,1.4404790381878294,-1.4061797422041495,-1.5708235320348358,-0.40574438043794797],[-1.9767137278196658,-1.605465844257073,1.4454928976397579,-1.4105695242317278,-1.5708235124193832,-0.4059130747084871],[-1.976882401123784,-1.606072588765553,1.4504860903477506,-1.4149567123023037,-1.5708234767453064,-0.4060817733341466],[-1.9770510839839284,-1.6066613286437652,1.455458791832236,-1.4193414433640648,-1.5708234269086543,-0.4062504788600576],[-1.9772197784887584,-1.6072320949228467,1.4604111711354488,-1.423723851016052,-1.5708233645870855,-0.4064191936635259],[-1.9773884866129003,-1.6077849161138664,1.4653433911971647,-1.4281040657467743,-1.5708232912665983,-0.40658791997318633],[-1.977557210230053,-1.6083198182827716,1.4702556091926833,-1.4324822151488399,-1.5708232082646814,-0.4067566598867512],[-1.9777259511255014,-1.6088368251175065,1.4751479768366615,-1.436858424112227,-1.5708231167504134,-0.4069254153874626],[-1.9778947110080398,-1.6093359579877067,1.480020640656031,-1.441232814998511,-1.5708230177619544,-0.4070941883593797],[-1.9780634915213302,-1.6098172359973115,1.4848737422348612,-1.4456055077981165,-1.5708229122217907,-0.40726298060160826],[-1.9782322942547204,-1.6102806760304227,1.4897074184337455,-1.4499766202724274,-1.570822800950066,-0.4074317938415847],[-1.97840112075358,-1.6107262927906623,1.4945218015859376,-1.4543462680823596,-1.5708226846762432,-0.4076006297475287],[-1.9785699725291919,-1.6111540988342665,1.4993170196722692,-1.4587145649048678,-1.5708225640493427,-0.40776948994016476],[-1.9787388510682582,-1.611564104597064,1.5040931964765385,-1.4630816225386272,-1.570822439646935,-0.4079383760038072],[-1.978907757842089,-1.611956318415455,1.5088504517229377,-1.467447551000076,-1.570822311983062,-0.4081072894969199],[-1.9790766943155305,-1.612330746541433,1.5135889011967527,-1.4718124586107821,-1.5708221815152188,-0.40827623196223584],[-1.979245661955706,-1.6126873931516246,1.5183086568494693,-1.4761764520770648,-1.5708220486505224,-0.40844520493653813],[-1.9794146622406408,-1.6130262603502605,1.5230098268891554,-1.480539636562656,-1.5708219137511685,-0.40861420996019454],[-1.9795836966678533,-1.6133473481659109,1.5276925158568493,-1.4849021157551099,-1.57082177713926,-0.40878324858653914],[-1.9797527667629822,-1.6136506545417233,1.5323568246894783,-1.4892639919266104,-1.5708216391010954,-0.408952322391202],[-1.9799218740885536,-1.6139361753188313,1.5370028507696596,-1.493625365989706,-1.570821499890971,-0.40912143298148784],[-1.9800910202529671,-1.6142039042124772,1.5416306879625805,-1.4979863375485214,-1.5708213597345617,-0.40929058200590357],[-1.9802602069198183,-1.6144538327802862,1.5462404266399152,-1.5023470049458392,-1.5708212188319264,-0.4094597711639534],[-1.980429435817655,-1.614685950381986,1.5508321536905991,-1.506707465306493,-1.5708210773601863,-0.40962900221632464],[-1.9805987087503174,-1.6149002441297189,1.555405952518042,-1.5110678145774115,-1.5708209354759066,-0.4097982769955858],[-1.9807680276079775,-1.6150966988278967,1.5599619030231175,-1.5154281475646283,-1.5708207933172202,-0.40996759741756705],[-1.9809373943790647,-1.6152752969013366,1.5645000815720296,-1.51978855796754,-1.570820651005721,-0.41013696549356665],[-1.981106811163253,-1.6154360183101601,1.5690205609478616,-1.5241491384106898,-1.57082050864815,-0.4103063833435992],[-1.9812762801857307,-1.615578840449612,1.5735234102842253,-1.528509980473267,-1.5708203663378966,-0.41047585321088387],[-1.9814458038130114,-1.6157037380325852,1.5780086949790724,-1.532871174716566,-1.5708202241563376,-0.4106453774778584],[-1.9816153840395603,-1.6158106551442264,1.58247636789426,-1.5372327301608009,-1.5708200820298428,-0.4108149581533447],[-1.9817850227931875,-1.6158995584146076,1.5869264662637814,-1.5415947173889637,-1.5708199399987612,-0.41098459717893143],[-1.9819547226553376,-1.6159704169131541,1.591359046441659,-1.5459572236054206,-1.570819798131003,-0.4111542971471885],[-1.9821244865382683,-1.6160231964545342,1.595774161242844,-1.5503203357533895,-1.5708196564870724,-0.41132406097964186],[-1.982294317598835,-1.6160578594451298,1.6001718591517433,-1.554684139879835,-1.5708195151187958,-0.4114938918409388],[-1.982464219263367,-1.6160743646119458,1.6045521840165682,-1.5590487210992752,-1.570819374069956,-0.41166379316381047],[-1.9826341952643,-1.6160726666820404,1.6089151747437789,-1.5634141636071828,-1.5708192333769782,-0.4118337686857603],[-1.9828042496835925,-1.6160527160020859,1.6132608649343587,-1.5677805506954259,-1.5708190930695225,-0.4120038224925043],[-1.9829743870039869,-1.616014458084916,1.6175892824456133,-1.5721479647666108,-1.570818953170988,-0.41217395906924814],[-1.9831446121699694,-1.6159578330662077,1.6219004488614535,-1.5765164873471649,-1.5708188136989278,-0.412344183361629],[-1.9833149306608453,-1.6158827750495774,1.6261943788494158,-1.5808861990991667,-1.5708186746653674,-0.4125145008487509],[-1.9834853485790853,-1.6157892113118144,1.6304710793760708,-1.585257179830887,-1.5708185360770341,-0.41268491763145526],[-1.9836558727581186,-1.6156770613310232,1.63473054874348,-1.5896295085060252,-1.5708183979354833,-0.412855440540008],[-1.9838265108951412,-1.61554623558809,1.6389727753969308,-1.5940032632515415,-1.570818260237112,-0.4130260772667455],[-1.9839972717165124,-1.6153966340745387,1.6431977364366857,-1.5983785213639286,-1.5708181229730427,-0.4131968365312528],[-1.9841681651861234,-1.6152281444150953,1.6474053957416273,-1.602755359313687,-1.5708179861288487,-0.41336772828843554],[-1.9843392027712905,-1.6150406394774093,1.6515957015765532,-1.60713385274764,-1.5708178496840888,-0.4135387639940149],[-1.9845103977868837,-1.6148339742882785,1.655768583501422,-1.6115140764884877,-1.5708177136115786,-0.4137099569481057],[-1.9846817658477756,-1.6146079819954986,1.6599239483200987,-1.6158961045307128,-1.5708175778763305,-0.4138813227469337],[-1.9848533254743361,-1.6143624684902418,1.6640616746810388,-1.62028001003138,-1.5708174424340178,-0.4140528798872973],[-1.9850250989191076,-1.614097205107335,1.6681816057434011,-1.6246658652935124,-1.5708173072287703,-0.41422465059181324],[-1.9851971133215582,-1.6138119184970212,1.6722835389957957,-1.6290537417381443,-1.5708171721899873,-0.41439666196161196],[-1.9853694023641086,-1.613506276212121,1.6763672117608788,-1.63344370985836,-1.5708170372276529,-0.41456894762935315],[-1.9855025598149594,-1.6132182890410451,1.679462463886243,-1.6368322240623217,-1.5708164565692373,-0.41470219208777065],[-1.9855043873234957,-1.6130632014430464,1.6793320276416477,-1.6368770815053197,-1.5708144736320975,-0.4147044011284732],[-1.9855060113155583,-1.6129351622771215,1.6792259324397643,-1.6369172874958482,-1.5708127658389113,-0.41470637262192134],[-1.9855074864498072,-1.6128317095337636,1.6791417596898772,-1.6369530075397782,-1.5708112137789019,-0.41470816232560226],[-1.9855088292130048,-1.612748368374383,1.6790753181617113,-1.6369847181304436,-1.5708097991899772,-0.4147097897622323],[-1.9855100507308883,-1.6126813511870761,1.6790230957797752,-1.6370128634061676,-1.5708085119686999,-0.4147112688785179],[-1.985511161110677,-1.6126275645596289,1.6789822535627728,-1.6370378474148404,-1.5708073425869453,-0.41471261234867635],[-1.98551216976746,-1.6125844908819449,1.6789505041803285,-1.6370600336197532,-1.570806281748641,-0.41471383191661704],[-1.985513085459363,-1.612550082750079,1.6789260059066187,-1.6370797464791795,-1.570805320501068,-0.4147149384512486],[-1.9855139163073228,-1.6125226760997386,1.6789072766208881,-1.637097274040931,-1.5708044503321916,-0.41471594198549566],[-1.985514669818378,-1.6125009192467468,1.6788931244426075,-1.6371128710242948,-1.5708036632315177,-0.4147168517574609],[-1.9855153529127338,-1.6124837149677587,1.6788825917660533,-1.637126762061125,-1.570802951721953,-0.41471767625400735],[-1.985515971953639,-1.612470173238119,1.67887491007599,-1.6371391448924528,-1.5708023088702285,-0.4147184232558233],[-1.9855165327791,-1.6124595726763258,1.6788694634479677,-1.6371501934004264,-1.570801728281872,-0.4147190998830736],[-1.9855170407345797,-1.612451329100266,1.6788657590524185,-1.6371600604107681,-1.5708012040853603,-0.41471971264082624],[-1.9855175007059338,-1.6124449698913512,1.6788634033124696,-1.6371688802370403,-1.5708007309089895,-0.4147202674636052],[-1.9855179171520065,-1.6124401131006265,1.6788620826291643,-1.637176770960928,-1.5708003038531422,-0.41472076975854066],[-1.9855182941364184,-1.6124364504255915,1.6788615477988693,-1.6371838364567641,-1.5707999184599664,-0.4147212244467585],[-1.985518635358197,-1.6124337333457266,1.6788616014168265,-1.6371901681765275,-1.5707995706819324,-0.414721636002707],[-1.985518944181011,-1.6124317618349462,1.6788620876967044,-1.6371958467156331,-1.5707992568503417,-0.4147220084912705],[-1.98551922366083,-1.6124303751757791,1.6788628842454056,-1.6372009431813381,-1.5707989736445394,-0.41472234560257],[-1.98551947657193,-1.6124294444871698,1.6788638954204704,-1.6372055203855274,-1.5707987180623417,-0.41472265068441194],[-1.9855197054311837,-1.612428866649051,1.6788650469685718,-1.6372096338826094,-1.5707984873920127,-0.4147229267724178],[-1.9855199125206533,-1.6124285593650676,1.6788662817009776,-1.63721333287169,-1.570798279185981,-0.4147231766178775],[-1.9855200999084968,-1.6124284571523848,1.6788675560082917,-1.6372166609804195,-1.570798091236392,-0.41472340271342906],[-1.9855202694682592,-1.6124285080864376,1.6788688370543465,-1.6372196569460282,-1.5707979215525225,-0.41472360731663616],[-1.9855204228966095,-1.6124286711601767,1.678870100519494,-1.6372223552072853,-1.5707977683400218,-0.414723792471616],[-1.9855205617296057,-1.6124289141433492,1.6788713287881691,-1.6372247864193807,-1.570797629981919,-0.414723960028812],[-1.9855206873575775,-1.6124292118484607,1.6788725094955403,-1.63722697790222,-1.5707975050213074,-0.4147241116630403],[-1.9855208010387186,-1.6124295447274,1.6788736343642223,-1.6372289540311948,-1.5707973921456058,-0.41472424888994514],[-1.9855209039114734,-1.612429897736748,1.6788746982751352,-1.6372307365782808,-1.570797290172286,-0.41472437308097115],[-1.9855209970058179,-1.6124302594213236,1.6788756985272002,-1.6372323450102049,-1.5707971980359579,-0.4147244854769775],[-1.9855210812535125,-1.6124306211749009,1.6788766342492087,-1.637233796749502,-1.5707971147767017,-0.4147245872006007],[-1.9855211574974143,-1.6124309766446376,1.6788775059341559,-1.6372351074034606,-1.5707970395295379,-0.41472467926747564],[-1.985521226499929,-1.6124313212520363,1.6788783150720126,-1.6372362909652212,-1.5707969715149388,-0.4147247625964069],[-1.985521288950672,-1.6124316518083026,1.6788790638615028,-1.6372373599907364,-1.5707969100302808,-0.4147248380185953],[-1.985521345473414,-1.6124319662061255,1.6788797549851855,-1.6372383257547412,-1.570796854442155,-0.4147249062859837],[-1.9855213966323673,-1.612432263173249,1.678880391435131,-1.6372391983884473,-1.5707968041794464,-0.4147249680788208],[-1.9855214429378802,-1.6124325420759822,1.6788809763789796,-1.6372399870013121,-1.5707967587271126,-0.4147250240125098],[-1.9855214848515894,-1.6124328027629973,1.678881513058104,-1.637240699788884,-1.5707967176205886,-0.41472507464379743],[-1.9855215227910794,-1.6124330454416047,1.6788820047112376,-1.637241344128471,-1.5707966804407607,-0.4147251204763838],[-1.9855215571341005,-1.6124332705801578,1.678882454518211,-1.6372419266641218,-1.570796646809444,-0.4147251619659838],[-1.985521588222379,-1.6124334788314616,1.6788828655595145,-1.6372424533822305,-1.5707966163853218,-0.41472519952491776],[-1.985521616513652,-1.6124336710930744,1.6788832406188832,-1.6372429291585742,-1.570796588508814,-0.4147252336575012],[-1.9855216427501854,-1.6124338492035846,1.6788835829850295,-1.6372433585095592,-1.5707965620216227,-0.41472526529112713],[-1.9855216664791575,-1.612434013460433,1.6788838949107612,-1.6372437461705076,-1.5707965378967892,-0.4147252936845549],[-1.985521688058039,-1.6124341647592668,1.6788841793798375,-1.6372440971052413,-1.57079651588926,-0.41472531948301855],[-1.98552170674247,-1.6124343013305,1.6788844383747354,-1.6372444171603255,-1.5707964978443438,-0.41472534211963197],[-1.985521723647061,-1.6124344250374778,1.678884672499314,-1.6372447053247032,-1.5707964816210036,-0.41472536260856485],[-1.9855217389664206,-1.612434538130486,1.678884885356014,-1.6372449658903119,-1.5707964669156516,-0.41472538117202445],[-1.9855217528019575,-1.6124346417565387,1.6788850795386037,-1.6372452028560285,-1.5707964536344718,-0.41472539794809526],[-1.9855217653023767,-1.612434740121602,1.6788852631132132,-1.637245428983887,-1.5707964414551543,-0.41472541311025557],[-1.985521776671915,-1.6124348337879642,1.6788854358118905,-1.6372456420960866,-1.570796430377625,-0.41472542689222686],[-1.985521786941037,-1.6124349192225036,1.6788855925573498,-1.637245835280574,-1.5707964204002338,-0.4147254393428476],[-1.9855217962289051,-1.6124349967761262,1.6788857343910149,-1.637246009951282,-1.5707964114017279,-0.41472545060436933],[-1.9855218046312844,-1.612435067131795,1.6788858627017123,-1.6372461678621748,-1.5707964032824606,-0.41472546079257583],[-1.9855218122333769,-1.6124351309415328,1.678885978779093,-1.6372463106311823,-1.5707963959540627,-0.4147254700106588],[-1.9855218191119839,-1.61243518880287,1.678886083792007,-1.6372464397207371,-1.5707963893374925,-0.4147254783516619],[-1.9855218253364313,-1.6124352412610494,1.6788861787975538,-1.6372465564505758,-1.5707963833619443,-0.41472548589958286],[-1.985521830969321,-1.6124352888130313,1.6788862647515492,-1.637246662011647,-1.5707963779639347,-0.41472549273027876],[-1.985521836067196,-1.6124353319114253,1.6788863425182017,-1.6372467574788445,-1.570796373086501,-0.41472549891227245],[-1.9855218406811395,-1.6124353709681827,1.6788864128789094,-1.6372468438225032,-1.5707963686784925,-0.41472550450747564],[-1.9855218448573102,-1.6124354063580495,1.6788864765402298,-1.6372469219187418,-1.5707963646939458,-0.41472550957183835],[-1.985521848625616,-1.6124354389655142,1.6788865349322994,-1.6372469939499525,-1.5707963610954758,-0.41472551414424547],[-1.9855218520423141,-1.6124354688260636,1.678886588118019,-1.6372470594849977,-1.5707963578396684,-0.4147255182888309],[-1.9855218551346194,-1.6124354957772256,1.678886636087036,-1.6372471185126656,-1.5707963548965482,-0.4147255220399814],[-1.9855218579347929,-1.6124355200656042,1.6788866793195296,-1.6372471716489572,-1.5707963522347739,-0.41472552543653896],[-1.985521860470668,-1.612435541953935,1.6788867182909561,-1.637247219495831,-1.570796349826863,-0.41472552851227845],[-1.9855218627672657,-1.612435561683214,1.6788867534318725,-1.6372472625962402,-1.570796347648186,-0.4147255312975916],[-1.9855218648472022,-1.612435579470722,1.6788867851284084,-1.6372473014357094,-1.5707963456766043,-0.41472553381995186],[-1.985521866730938,-1.6124355955117167,1.6788868137264705,-1.6372473364480584,-1.5707963438921926,-0.41472553610421226],[-1.9855218684369917,-1.61243560998148,1.6788868395359873,-1.637247368021037,-1.5707963422769975,-0.4147255381728666],[-1.9855218699821267,-1.6124356230372834,1.678886862834763,-1.6372473965014225,-1.5707963408148338,-0.41472554004627254],[-1.9855218713815201,-1.6124356348202296,1.6788868838719546,-1.6372474221995683,-1.5707963394910964,-0.4147255417428629],[-1.9855218726489159,-1.6124356454569306,1.6788869028711564,-1.6372474453934347,-1.5707963382925998,-0.41472554327932487],[-1.9855218737967604,-1.6124356550610301,1.6788869200331538,-1.6372474663321648,-1.5707963372074334,-0.4147255446707694],[-1.9855218748363246,-1.6124356637345725,1.6788869355383587,-1.6372474852392305,-1.5707963362248338,-0.41472554593088057],[-1.985521875777819,-1.6124356715692283,1.6788869495489789,-1.637247502315228,-1.5707963353350722,-0.4147255470720511],[-1.9855218766304892,-1.6124356786473877,1.6788869622109326,-1.6372475177403372,-1.5707963345293499,-0.4147255481055026],[-1.985534561739306,-1.6154171399031605,1.635843006345343,-1.5914288795190186,-1.5707821997123481,-0.41473820421908947],[-1.9855348525851528,-1.6155179150974492,1.634691520173747,-1.590175634778039,-1.5707822533125735,-0.41473849686103265],[-1.9855399088018926,-1.6155761845154748,1.6310280322471964,-1.5864533654454493,-1.5707822295852418,-0.4147435433098818],[-1.9855440405541773,-1.6156408112916525,1.626754762747582,-1.582116206521009,-1.5707820885569144,-0.4147476689170791],[-1.9855438216686163,-1.6156878359778097,1.6224446277445506,-1.577759928193897,-1.5707819277810722,-0.4147474543947162],[-1.9855434277265946,-1.6157171041707141,1.6181168928065033,-1.5734037897370663,-1.5707817687474113,-0.41474706488457885],[-1.9855430464195,-1.6157286256564192,1.6137726309878344,-1.569048849209309,-1.5707816121984446,-0.41474668759361694],[-1.9855426870373445,-1.615722416042764,1.6094118304942853,-1.5646950817012444,-1.5707814578506036,-0.41474633182174364],[-1.985542348888059,-1.6156984897206135,1.605034420068147,-1.560342404220467,-1.5707813053979878,-0.41474599691161035],[-1.9855420308387248,-1.6156568593973206,1.600640323556779,-1.555990730340489,-1.5707811545630053,-0.4147456817637877],[-1.9855417318216289,-1.6155975361092232,1.5962294628574405,-1.5516399731346489,-1.5707810050956275,-0.41474538534150923],[-1.9855414508534064,-1.6155205292478694,1.5918017580156922,-1.547290045268903,-1.5707808567703099,-0.4147451066898711],[-1.9855411870280448,-1.6154258465822777,1.5873571271711575,-1.5429408589449978,-1.570780709383159,-0.41474484492896363],[-1.9855409395091492,-1.6153134942764604,1.5828954864982487,-1.538592325841499,-1.570780562749451,-0.41474459924628526],[-1.9855407075228069,-1.6151834769023619,1.5784167501491646,-1.5342443570599567,-1.5707804167014492,-0.41474436888975774],[-1.985540490351072,-1.6150357974483993,1.573920830198776,-1.5298968630757979,-1.570780271086481,-0.4147441531613543],[-1.9855402873260115,-1.614870457323768,1.569407636590684,-1.525549753693231,-1.570780125765244,-0.4147439514112919],[-1.9855400973648998,-1.614687489384806,1.5648771831550596,-1.5212030107039687,-1.5707799806380167,-0.4147437625740387],[-1.9855399202359185,-1.6144869013525882,1.5603294094838738,-1.5168565669550633,-1.570779835595603,-0.4147435864317553],[-1.9855397555508143,-1.6142686895542546,1.5557642196531694,-1.5125103312079549,-1.5707796905277314,-0.41474342260943997],[-1.9855396027834784,-1.6140328488998466,1.551181515050021,-1.5081642108756788,-1.5707795453320947,-0.4147432705934114],[-1.9855394614293647,-1.6137793726495056,1.546581194609225,-1.5038181124957408,-1.5707793999140311,-0.4147431298904095],[-1.9855393310083305,-1.6135082523973385,1.5419631548068677,-1.4994719417470197,-1.5707792541856973,-0.4147430000305239],[-1.9855392110616201,-1.6132194780485314,1.5373272896024246,-1.495125603421565,-1.5707791080652915,-0.41474288056426606],[-1.9855391011486747,-1.6129130377928487,1.5326734903765231,-1.4907790013950477,-1.5707789614763592,-0.41474277105947444],[-1.9855390008441243,-1.6125889180743214,1.5280016458659837,-1.4864320385977254,-1.570778814347166,-0.41474267109837754],[-1.985538909734965,-1.61224710355705,1.52331164209597,-1.4820846169858817,-1.5707786666101355,-0.4147425802748547],[-1.985538827417894,-1.6118875770870116,1.5186033623089255,-1.4777366375135783,-1.570778518201338,-0.41474249819183245],[-1.9855387534967763,-1.6115103196497045,1.5138766868899458,-1.4733880001045858,-1.570778369060033,-0.41474242445881887],[-1.9855386875802195,-1.6111153103234424,1.5091314932882374,-1.4690386036243681,-1.5707782191282507,-0.41474235868953113],[-1.9855386292792292,-1.6107025262280446,1.504367655934241,-1.4646883458520001,-1.5707780683504138,-0.4147423004996097],[-1.9855385782049324,-1.6102719424686138,1.4995850461519935,-1.4603371234519225,-1.5707779166729892,-0.41474224950437993],[-1.9855385339663292,-1.6098235320740404,1.4947835320662348,-1.4559848319454516,-1.5707777640441751,-0.41474220531666117],[-1.9855384961680698,-1.6093572659297797,1.4899629785036896,-1.4516313656819344,-1.570777610413606,-0.4147421675445685],[-1.9855384644082166,-1.608873112704399,1.4851232468879358,-1.4472766178095111,-1.570777455732087,-0.4147421357893237],[-1.9855384382759744,-1.6083710387692576,1.480264195127111,-1.4429204802453806,-1.5707772999513427,-0.4147421096430138],[-1.985538417349361,-1.6078510081106017,1.4753856774936613,-1.43856284364553,-1.5707771430237851,-0.4147420886862887],[-1.985538401192797,-1.6073129822332077,1.4704875444952035,-1.434203597373867,-1.5707769849022948,-0.4147420724859886],[-1.98553838935457,-1.6067569200545635,1.465569642735386,-1.4298426294706932,-1.570776825540014,-0.4147420605926243],[-1.9855383813641574,-1.6061827777883784,1.460631814763513,-1.4254798266204824,-1.5707766648901478,-0.4147420525377301],[-1.9855383767293604,-1.605590508816013,1.4556738989114404,-1.4211150741189358,-1.570776502905773,-0.4147420478310171],[-1.9855383749332083,-1.6049800635441185,1.4506957291159914,-1.4167482558392408,-1.5707763395396528,-0.41474204595729713],[-1.9855383754305915,-1.6043513892464916,1.4456971347248562,-1.4123792541975608,-1.570776174744051,-0.41474204637313833],[-1.9855383776445572,-1.6037044298877159,1.4406779402835095,-1.4080079501176896,-1.5707760084705482,-0.41474204850317886],[-1.9855383809622205,-1.6030391259256889,1.4356379653002171,-1.4036342229948873,-1.5707758406698547,-0.41474205173605017],[-1.9855383847301926,-1.6023554140895373,1.4305770239856317,-1.3992579506589033,-1.5707756712916163,-0.4147420554198295],[-1.9855383882494602,-1.6016532271286337,1.4254949249626678,-1.3948790093361774,-1.570775500284215,-0.4147420588569308],[-1.9855383907695867,-1.6009324935275162,1.4203914709415053,-1.3904972736112955,-1.5707753275945515,-0.41474206129832675],[-1.9855383914821243,-1.600193137180283,1.415266458353307,-1.3861126163877344,-1.5707751531678156,-0.4147420619369707],[-1.9855383895130645,-1.5994350770165018,1.4101196769347843,-1.381724908848006,-1.5707749769472332,-0.4147420599002729],[-1.9855383839141432,-1.5986582265687033,1.4049509092537698,-1.3773340204133377,-1.570774798873781,-0.4147420542414197],[-1.9855383736527552,-1.5978624934689534,1.399759930163467,-1.3729398187030932,-1.5707746188858718,-0.41474204392930764],[-1.9855383576001908,-1.5970477788586288,1.3945465061697322,-1.368542169494209,-1.5707744369189849,-0.4147420278368044],[-1.9855383345178093,-1.5962139766910581,1.3893103946913836,-1.3641409366810449,-1.5707742529052462,-0.41474200472694356],[-1.9855383030406941,-1.5953609729007003,1.3840513431876658,-1.3597359822361714,-1.570774066772924,-0.4147419732366113],[-1.9855382616581758,-1.594488644404423,1.3787690881190897,-1.3553271661728612,-1.5707738784458347,-0.41474193185709823],[-1.985538208690463,-1.5935968578893,1.3734633536969794,-1.3509143465103126,-1.5707736878426182,-0.41474187891077174],[-1.9855381422603644,-1.5926854683257838,1.3681338503618683,-1.3464973792430734,-1.570773494875852,-0.41474181252284326],[-1.9855380602587958,-1.59175431712316,1.362780272909481,-1.342076118316727,-1.5707732994509465,-0.4147417305869283],[-1.985537960302306,-1.5908032298125243,1.357402298152183,-1.3376504156128153,-1.5707731014647481,-0.4147416307226463],[-1.9855378396802772,-1.5898320130961454,1.3519995819586068,-1.333220120947304,-1.5707729008037519,-0.4147415102229015],[-1.9855376952885857,-1.588840451032668,1.3465717554466143,-1.3287850820889697,-1.5707726973417635,-0.41474136598765776],[-1.9855375235453132,-1.5878283000212987,1.3411184200013255,-1.3243451448072792,-1.5707724909367995,-0.4147411944397852],[-1.9855373202823292,-1.5867952820812,1.3356391406277557,-1.3199001529645875,-1.5707722814268852,-0.4147409914168277],[-1.98553708060403,-1.5857410756523744,1.3301334368853615,-1.3154499486759608,-1.5707720686242315,-0.4147407520299775],[-1.9855367987007095,-1.5846653026934312,1.3246007702142424,-1.3109943725747153,-1.5707718523069725,-0.41474047047777535],[-1.9855364675984937,-1.5835675100694826,1.319040525704209,-1.3065332642477403,-1.5707716322070866,-0.4147401397964691],[-1.9855344090317915,-1.583274322130859,1.3182751066044645,-1.3060397731187339,-1.5707735259563358,-0.41473808609272755],[-1.985532319728057,-1.5830936160092361,1.3180372778959308,-1.305960754497047,-1.5707755007587187,-0.4147360021861988],[-1.9855303962748785,-1.5829430923479457,1.3178375193238132,-1.3058915162439315,-1.570777319452926,-0.4147340832906487],[-1.9855286281276903,-1.5828179572500876,1.3176700292671506,-1.305830898603849,-1.5707789917320176,-0.4147323188071152],[-1.9855270050709262,-1.5827138346302794,1.3175294942795786,-1.3057778240586826,-1.5707805271114563,-0.4147306986120926],[-1.985525517154672,-1.5826270841195287,1.3174114475654684,-1.3057313362388665,-1.570781934907027,-0.4147292128575234],[-1.9855241547380809,-1.582554703418479,1.317312164861485,-1.305690592125963,-1.5707832241653805,-0.41472785199955986],[-1.985522908559396,-1.5824942183846817,1.3172285452649266,-1.3056548523853504,-1.5707844035917917,-0.4147266068656808],[-1.9855217697880703,-1.5824435896436435,1.3171580079709795,-1.305623471145354,-1.5707854814972046,-0.4147254687059873],[-1.9855207300584068,-1.5824011355134096,1.3170984054341484,-1.3055958858640337,-1.5707864657634871,-0.41472442922670744],[-1.9855197814880494,-1.5823654686126365,1.3170479507031028,-1.3055716076632347,-1.570787363823553,-0.414723480608932],[-1.9855189166845193,-1.582335443741172,1.317005156728163,-1.305550212348558,-1.5707881826532588,-0.41472261551562517],[-1.9855181287425059,-1.582310115028485,1.3169687857383026,-1.3055313322248439,-1.570788928772437,-0.41472182708951055],[-1.9855174112341367,-1.5822887007009914,1.3169378070682876,-1.3055146487434517,-1.5707896082529045,-0.4147211089440151],[-1.9855167581940538,-1.5822705541130113,1.3169113620636352,-1.3054998859697489,-1.5707902267316465,-0.4147204551490312],[-1.985516164100785,-1.5822551399271907,1.3168887349036842,-1.305486804829545,-1.570790789427727,-0.4147198602129582],[-1.9855156238555907,-1.5822420145282177,1.3168693283651407,-1.3054751980762844,-1.5707913011617596,-0.41471931906219445],[-1.9855151327597436,-1.5822308099163929,1.3168526437038532,-1.305464885912584,-1.5707917663769935,-0.4147188270190116],[-1.9855146864909825,-1.5822212204614725,1.316838263964857,-1.3054557121974109,-1.5707921891612895,-0.4147183797785532],[-1.9855142810797237,-1.58221299200728,1.316825840142836,-1.3054475411716076,-1.5707925732694046,-0.4147179733855409],[-1.985513912885469,-1.5822059129082118,1.3168150797100648,-1.30544025463825,-1.5707929221451498,-0.41471760421112014],[-1.9855135785737494,-1.582199806653276,1.316805737108817,-1.3054337495393378,-1.5707932389430894,-0.4147172689301931],[-1.9855132750938371,-1.5821945257946763,1.316797605872553,-1.305427935875947,-1.5707935265495445,-0.41471696449947343],[-1.9855129996574095,-1.5821899469483656,1.3167905120966195,-1.3054227349247438,-1.5707937876027227,-0.41471668813644635],[-1.9855127497182614,-1.5821859666755262,1.3167843090264597,-1.3054180777092843,-1.5707940245118703,-0.4147164372993421],[-1.9855125229531494,-1.5821824980880148,1.3167788725707958,-1.305413903689807,-1.570794239475372,-0.41471620966820144],[-1.9855123172437885,-1.5821794680488888,1.3167740975801987,-1.3054101596399743,-1.5707944344977587,-0.41471600312706586],[-1.9855121306600134,-1.58217681486214,1.3167698947588462,-1.3054067986833537,-1.5707946114056313,-0.4147158157473027],[-1.9855119614440855,-1.5821744863647118,1.3167661881000452,-1.3054037794662192,-1.5707947718624935,-0.4147156457720566],[-1.9855118079961196,-1.5821724383494253,1.3167629127550529,-1.305401065446653,-1.5707949173825364,-0.41471549160178683],[-1.985511668860582,-1.582170633260192,1.3167600132603612,-1.3053986242828128,-1.5707950493434046,-0.41471535178087804],[-1.9855115427138221,-1.5821690391113927,1.316757442061646,-1.3053964273057785,-1.570795168997989,-0.41471522498524904],[-1.9855114283525737,-1.5821676285918744,1.3167551582832833,-1.3053944490645646,-1.5707952774853022,-0.4147151100109299],[-1.9855113246833742,-1.582166378321112,1.3167531267012826,-1.305392666932748,-1.570795375840483,-0.4147150057635424],[-1.9855112307128502,-1.5821652682308556,1.3167513168847778,-1.3053910607677504,-1.5707954650039877,-0.41471491124863474],[-1.9855111455388001,-1.5821642810503331,1.316749702477309,-1.3053896126151712,-1.570795545830019,-0.4147148255628054],[-1.9855110683420312,-1.5821634018770003,1.3167482605941387,-1.3053883064517178,-1.5707956190942496,-0.4147147478855788],[-1.985510998378886,-1.5821626178180075,1.3167469713159465,-1.305387127961243,-1.5707956855008867,-0.4147146774719587],[-1.9855109349744144,-1.5821619176902038,1.316745817262703,-1.3053860643392499,-1.5707957456891308,-0.41471461364562384],[-1.9855108775161359,-1.5821612917686285,1.3167447832342793,-1.3053851041218896,-1.570795800239073,-0.41471455579270977],[-1.9855108254483502,-1.5821607315752388,1.3167438559067153,-1.3053842370361002,-1.570795849677078,-0.4147145033561359],[-1.9855107782669468,-1.5821602297010462,1.3167430235749396,-1.3053834538680034,-1.570795894480689,-0.4147144558304263],[-1.9855107355146773,-1.5821597796560625,1.3167422759343546,-1.305382746347127,-1.5707959350831011,-0.4147144127569955],[-1.9855106967768488,-1.5821593757423904,1.3167416038949478,-1.3053821070443479,-1.5707959718772317,-0.41471437371984426],[-1.9855106616774052,-1.582159012946658,1.3167409994227228,-1.3053815292817734,-1.5707960052194285,-0.4147143383416515],[-1.9855106298753613,-1.5821586868485984,1.3167404554040751,-1.3053810070530307,-1.5707960354328414,-0.4147143062802104],[-1.9855106010615586,-1.5821583935431671,1.3167399655295087,-1.3053805349526364,-1.570796062810489,-0.41471427722518883],[-1.9855105749557194,-1.5821581295740235,1.316739524193683,-1.3053801081133225,-1.5707960876180478,-0.414714250895184],[-1.9855105513037656,-1.5821578918765564,1.3167391264092578,-1.3053797221503265,-1.5707961100963859,-0.4147142270350437],[-1.9855105298753866,-1.5821576777289632,1.3167387677324531,-1.305379373111818,-1.5707961304638647,-0.41471420541343557],[-1.9855105104618278,-1.582157484710138,1.3167384441985717,-1.3053790574347097,-1.5707961489184317,-0.41471418582063097],[-1.9855104928738834,-1.582157310663307,1.3167381522659858,-1.3053787719052357,-1.5707961656395164,-0.4147141680665049],[-1.9855104769400758,-1.5821571536645673,1.316737888767395,-1.305378513623728,-1.5707961807897584,-0.4147141519787064],[-1.9855104625049986,-1.582157011995574,1.3167376508672541,-1.3053782799731115,-1.5707961945165685,-0.414714137401008],[-1.9855104494278206,-1.5821568841197893,1.3167374360245625,-1.3053780685907084,-1.570796206953551,-0.41471412419179954],[-1.9855104375809187,-1.582156768661756,1.3167372419602144,-1.305377877342964,-1.5707962182217925,-0.41471411222272964],[-1.9855104268486459,-1.5821566643889897,1.3167370666283227,-1.3053777043027819,-1.5707962284310295,-0.4147141013774647],[-1.9855104171262115,-1.582156570196104,1.316736908190962,-1.3053775477291794,-1.5707962376807105,-0.41471409155056727],[-1.9855104083186623,-1.5821564850908632,1.3167367649958779,-1.3053774060490166,-1.5707962460609581,-0.41471408264648163],[-1.985510400339963,-1.5821564081819162,1.3167366355567867,-1.3053772778405606,-1.5707962536534406,-0.4147140745786052],[-1.9855103931121603,-1.5821563386679691,1.3167365185359288,-1.3053771618187189,-1.5707962605321637,-0.41471406726845494],[-1.985510386564624,-1.582156275828222,1.3167364127285848,-1.3053770568217387,-1.5707962667641882,-0.4147140606449056],[-1.9855103806333618,-1.5821562190138976,1.3167363170493194,-1.3053769617992315,-1.5707962724102797,-0.4147140546435028],[-1.985510375260396,-1.582156167640731,1.3167362305197423,-1.305376875801389,-1.5707962775255007,-0.41471404920583604],[-1.9855103703931984,-1.5821561211822943,1.316736152257592,-1.3053767979692597,-1.5707962821597419,-0.41471404427897623],[-1.9855103659841795,-1.58215607916406,1.316736081467006,-1.3053767275259818,-1.5707962863582097,-0.414714039814959],[-1.9855103619902257,-1.5821560411581093,1.3167360174298166,-1.3053766637688784,-1.5707962901618644,-0.414714035770321],[-1.9855103583722753,-1.582156006778412,1.3167359594977743,-1.3053766060623224,-1.5707962936078195,-0.41471403210567714],[-1.9855103550949436,-1.5821559756766088,1.3167359070855793,-1.3053765538312982,-1.5707962967297007,-0.41471402878534047],[-1.9855103521261719,-1.5821559475382379,1.3167358596646372,-1.3053765065555871,-1.5707962995579752,-0.4147140257769718],[-1.9855103494369182,-1.582155922079362,1.3167358167574592,-1.3053764637645189,-1.5707963021202473,-0.4147140230512694],[-1.985510347000872,-1.5821558990435338,1.3167357779326276,-1.305376425032228,-1.5707963044415272,-0.4147140205816814],[-1.9855103447941993,-1.5821558781990914,1.3167357428002908,-1.3053763899733746,-1.570796306544475,-0.4147140183441497],[-1.985510342795308,-1.5821558593367107,1.316735711008084,-1.3053763582392681,-1.5707963084496204,-0.4147140163168752],[-1.985510340984638,-1.5821558422672217,1.31673568223749,-1.3053763295143725,-1.5707963101755638,-0.41471401448010525],[-1.9855103393444697,-1.5821558268196383,1.3167356562005386,-1.3053763035131412,-1.5707963117391577,-0.41471401281594183],[-1.985510337858751,-1.5821558128393853,1.3167356326368496,-1.3053762799771598,-1.570796313155669,-0.41471401130816926],[-1.9855103365129414,-1.5821558001867067,1.3167356113109647,-1.3053762586725635,-1.570796314438931,-0.41471400994209295],[-1.9855103352938683,-1.582155788735225,1.3167355920099337,-1.3053762393876949,-1.5707963156014748,-0.41471400870440017],[-1.9855103341895983,-1.582155778370653,1.316735574541155,-1.3053762219309955,-1.570796316654655,-0.4147140075830285],[-1.985510333189323,-1.5821557689896213,1.3167355587304048,-1.3053762061290881,-1.5707963176087574,-0.414714006567047],[-1.985510332283249,-1.5821557604986323,1.3167355444200837,-1.3053761918250533,-1.5707963184731006,-0.4147140056465537],[-1.9855103314625078,-1.5821557528131052,1.3167355314676126,-1.3053761788768614,-1.570796319256128,-0.41471400481257464],[-1.9855103307190634,-1.5821557458565234,1.3167355197439974,-1.3053761671559594,-1.5707963199654877,-0.414714004056981],[-1.9855103300456374,-1.5821557395596582,1.3167355091325246,-1.3053761565459907,-1.5707963206081095,-0.41471400337240677],[-1.9855103294356362,-1.5821557338598746,1.3167354995275917,-1.3053761469416336,-1.5707963211902716,-0.41471400275217685],[-1.9855103288830875,-1.5821557287004968,1.316735490833641,-1.305376138247559,-1.5707963217176608,-0.4147140021902455],[-1.9855103283825806,-1.5821557240302404,1.3167354829642033,-1.305376130377476,-1.570796322195429,-0.4147140016811341],[-1.9855103279292148,-1.5821557198026963,1.3167354758410288,-1.305376123253278,-1.5707963226282455,-0.4147140012198774],[-1.9855103275185504,-1.5821557159758664,1.316735469393305,-1.3053761168042652,-1.5707963230203386,-0.4147140008019787],[-1.9855103271465662,-1.5821557125117436,1.3167354635569464,-1.30537611096644,-1.570796323375539,-0.4147140004233624],[-1.9855103268096195,-1.582155709375928,1.3167354582739526,-1.3053761056818716,-1.5707963236973175,-0.41471400008033743],[-1.9855103265044105,-1.5821557065372907,1.3167354534918367,-1.3053761008981242,-1.5707963239888192,-0.41471399976955803],[-1.9855103262279497,-1.5821557039676524,1.3167354491630887,-1.3053760965677301,-1.570796324252892,-0.4147139994879934],[-1.9855103259775302,-1.5821557016415133,1.3167354452447135,-1.3053760926477223,-1.5707963244921164,-0.4147139992328978],[-1.9855103257506987,-1.5821556995357897,1.3167354416977946,-1.3053760890992079,-1.5707963247088303,-0.4147139990017831],[-1.9855103255452338,-1.5821556976295879,1.3167354384871055,-1.3053760858869778,-1.5707963249051515,-0.41471399879239584],[-1.9855103253591235,-1.5821556959039984,1.316735435580768,-1.305376082979164,-1.570796325082999,-0.41471399860269326],[-1.985510325190545,-1.582155694341904,1.3167354329499241,-1.3053760803469145,-1.5707963252441113,-0.41471399843082507],[-1.9855103250378459,-1.5821556929278096,1.3167354305684544,-1.305376077964116,-1.570796325390062,-0.4147139982751147],[-1.9855103248995312,-1.582155691647691,1.316735428412717,-1.3053760758071276,-1.5707963255222783,-0.41471399813404386],[-1.985510324774246,-1.5821556904888519,1.3167354264613123,-1.3053760738545501,-1.5707963256420525,-0.4147139980062359],[-1.9855103246607633,-1.5821556894398001,1.3167354246948677,-1.3053760720870105,-1.5707963257505555,-0.4147139978904437],[-1.985510324557971,-1.5821556884901349,1.3167354230958541,-1.3053760704869761,-1.570796325848847,-0.4147139977855386],[-1.9855103244648622,-1.582155687630437,1.3167354216483949,-1.3053760690385698,-1.570796325937889,-0.4147139976904968],[-1.9855103243805248,-1.5821556868521844,1.3167354203381287,-1.3053760677274253,-1.570796326018551,-0.41471399760439065],[-1.9855103243041328,-1.5821556861476596,1.3167354191520486,-1.305376066540533,-1.5707963260916218,-0.41471399752638083],[-1.9855103242349375,-1.5821556855098775,1.3167354180783848,-1.305376065466119,-1.5707963261578157,-0.4147139974557058],[-1.9855103241722605,-1.5821556849325156,1.316735417106482,-1.3053760644935248,-1.5707963262177802,-0.4147139973916758],[-1.9855103241154888,-1.5821556844098483,1.3167354162266927,-1.3053760636130984,-1.5707963262721012,-0.4147139973336667],[-1.9855103240640657,-1.582155683936696,1.3167354154302886,-1.3053760628161086,-1.5707963263213098,-0.41471399728111175],[-1.9855103240174867,-1.5821556835083668,1.3167354147093666,-1.3053760620946484,-1.5707963263658868,-0.4147139972334987],[-1.9855103239752967,-1.5821556831206143,1.3167354140567704,-1.3053760614415584,-1.5707963264062685,-0.4147139971903633],[-1.9855103239370815,-1.582155682769594,1.316735413466025,-1.3053760608503602,-1.5707963264428497,-0.4147139971512833],[-1.9855103239024665,-1.5821556824518275,1.316735412931269,-1.305376060315188,-1.5707963264759879,-0.4147139971158782],[-1.985510323871113,-1.5821556821641642,1.3167354124471953,-1.3053760598307336,-1.570796326506007,-0.4147139970838026],[-1.9855103238427134,-1.5821556819037519,1.3167354120090011,-1.3053760593921915,-1.5707963265332008,-0.41471399705474304],[-1.9855103238169893,-1.5821556816680091,1.3167354116123369,-1.3053760589952077,-1.570796326557835,-0.414713997028416],[-1.9855103237936893,-1.5821556814545985,1.3167354112532663,-1.3053760586358465,-1.5707963265801506,-0.4147139970045655],[-1.9855103237725844,-1.5821556812614053,1.316735410928228,-1.305376058310542,-1.570796326600366,-0.41471399698295736],[-1.9855103237534684,-1.5821556810865143,1.3167354106339968,-1.3053760580160665,-1.570796326618678,-0.4147139969633815],[-1.985510323736153,-1.582155680928191,1.3167354103676505,-1.3053760577494986,-1.5707963266352665,-0.4147139969456463],[-1.9855103237204692,-1.5821556807848662,1.3167354101265476,-1.3053760575081927,-1.5707963266502938,-0.4147139969295794],[-1.9855103237062637,-1.5821556806551198,1.3167354099082968,-1.3053760572897557,-1.5707963266639067,-0.414713996915023],[-1.9855103236933962,-1.5821556805376649,1.3167354097107313,-1.3053760570920208,-1.570796326676238,-0.4147139969018359],[-1.9855103236817415,-1.5821556804313366,1.3167354095318895,-1.3053760569130248,-1.5707963266874085,-0.4147139968898887],[-1.9855103236711846,-1.5821556803350807,1.316735409369997,-1.305376056750992,-1.5707963266975276,-0.4147139968790656],[-1.9855103236616227,-1.5821556802479455,1.3167354092234504,-1.3053760566043164,-1.570796326706694,-0.4147139968692596],[-1.9855103236529614,-1.5821556801690635,1.316735409090792,-1.305376056471541,-1.570796326714998,-0.41471399686037685],[-1.985510323645117,-1.5821556800976555,1.316735408970707,-1.305376056351349,-1.57079632672252,-0.414713996852329],[-1.9855103236380114,-1.5821556800330117,1.3167354088620038,-1.3053760562425492,-1.5707963267293337,-0.41471399684503857],[-1.9855103236315748,-1.5821556799744922,1.3167354087636025,-1.305376056144059,-1.5707963267355065,-0.41471399683843335],[-1.9855103236257456,-1.5821556799215168,1.3167354086745267,-1.3053760560549026,-1.570796326741098,-0.4147139968324493],[-1.9855103236204654,-1.582155679873561,1.3167354085938963,-1.305376055974198,-1.5707963267461627,-0.41471399682702825],[-1.9855103236156828,-1.5821556798301477,1.3167354085209066,-1.3053760559011416,-1.570796326750751,-0.414713996822117],[-1.985510323611351,-1.5821556797908478,1.3167354084548344,-1.3053760558350078,-1.5707963267549079,-0.41471399681766796],[-1.9855103236074272,-1.5821556797552703,1.316735408395025,-1.3053760557751426,-1.5707963267586724,-0.4147139968136374],[-1.9855103236038731,-1.5821556797230645,1.3167354083408849,-1.3053760557209515,-1.570796326762083,-0.41471399680998616],[-1.9855103236006537,-1.5821556796939091,1.3167354082918752,-1.3053760556718956,-1.5707963267651726,-0.4147139968066775],[-1.9855103235977383,-1.5821556796675162,1.316735408247511,-1.3053760556274892,-1.5707963267679712,-0.4147139968036803],[-1.9855103235950977,-1.5821556796436236,1.3167354082073508,-1.3053760555872915,-1.5707963267705065,-0.4147139968009657],[-1.9855103235927052,-1.582155679621995,1.3167354081709985,-1.3053760555509042,-1.570796326772803,-0.414713996798506],[-1.985510323590539,-1.582155679602415,1.3167354081380904,-1.3053760555179643,-1.5707963267748832,-0.4147139967962779],[-1.9855103235885763,-1.5821556795846907,1.3167354081083023,-1.305376055488147,-1.5707963267767677,-0.41471399679425897],[-1.9855103235867986,-1.5821556795686453,1.3167354080813372,-1.3053760554611555,-1.5707963267784746,-0.4147139967924306],[-1.9855103235851888,-1.5821556795541203,1.3167354080569282,-1.3053760554367229,-1.5707963267800211,-0.4147139967907732],[-1.9855103235837304,-1.582155679540971,1.3167354080348326,-1.3053760554146057,-1.5707963267814218,-0.41471399678927284],[-1.9855103235824096,-1.5821556795290685,1.3167354080148321,-1.3053760553945846,-1.5707963267826903,-0.4147139967879127],[-1.9855103235812137,-1.5821556795182934,1.316735407996727,-1.3053760553764615,-1.5707963267838394,-0.4147139967866816],[-1.98551032358013,-1.5821556795085383,1.3167354079803362,-1.3053760553600546,-1.570796326784881,-0.41471399678556553],[-1.9855103235791483,-1.5821556794997078,1.3167354079654998,-1.3053760553452034,-1.570796326785824,-0.4147139967845541],[-1.9855103235782594,-1.5821556794917144,1.316735407952071,-1.3053760553317608,-1.5707963267866785,-0.4147139967836386],[-1.9855103235774545,-1.5821556794844778,1.3167354079399136,-1.3053760553195914,-1.5707963267874525,-0.414713996782809],[-1.985510323576725,-1.5821556794779272,1.3167354079289095,-1.3053760553085756,-1.5707963267881535,-0.41471399678205745],[-1.9855103235760645,-1.582155679471998,1.3167354079189486,-1.305376055298604,-1.570796326788788,-0.4147139967813765],[-1.9855103235754663,-1.5821556794666296,1.3167354079099314,-1.3053760552895777,-1.5707963267893634,-0.41471399678075943],[-1.9855103235749245,-1.5821556794617702,1.3167354079017688,-1.3053760552814069,-1.5707963267898846,-0.41471399678020016],[-1.9855103235744336,-1.582155679457371,1.3167354078943798,-1.30537605527401,-1.5707963267903566,-0.4147139967796949],[-1.985510323573989,-1.582155679453389,1.3167354078876914,-1.3053760552673146,-1.570796326790784,-0.414713996779236],[-1.9855103235735867,-1.5821556794497835,1.316735407881636,-1.3053760552612532,-1.5707963267911715,-0.4147139967788205],[-1.9855103235732217,-1.5821556794465204,1.3167354078761562,-1.3053760552557674,-1.5707963267915221,-0.4147139967784446],[-1.9855103235728915,-1.5821556794435658,1.3167354078711944,-1.3053760552508005,-1.57079632679184,-0.41471399677810333],[-1.9855103235725922,-1.5821556794408926,1.316735407866705,-1.3053760552463052,-1.570796326792128,-0.4147139967777945],[-1.985510323572321,-1.582155679438471,1.316735407862639,-1.3053760552422355,-1.5707963267923888,-0.41471399677751447],[-1.985510323572076,-1.5821556794362797,1.3167354078589593,-1.3053760552385518,-1.5707963267926248,-0.4147139967772615],[-1.9855103235718532,-1.5821556794342955,1.3167354078556277,-1.305376055235217,-1.5707963267928389,-0.4147139967770319],[-1.9855103235716518,-1.5821556794324996,1.3167354078526126,-1.305376055232198,-1.5707963267930325,-0.4147139967768235],[-1.9855103235714693,-1.5821556794308744,1.3167354078498834,-1.3053760552294658,-1.5707963267932081,-0.41471399677663506],[-1.9855103235713043,-1.582155679429402,1.3167354078474112,-1.3053760552269915,-1.570796326793367,-0.41471399677646453],[-1.9855103235711546,-1.5821556794280702,1.3167354078451756,-1.3053760552247533,-1.5707963267935112,-0.4147139967763097],[-1.9855103235710194,-1.5821556794268645,1.316735407843151,-1.3053760552227265,-1.5707963267936416,-0.4147139967761703],[-1.9855103235708964,-1.5821556794257732,1.3167354078413191,-1.305376055220892,-1.57079632679376,-0.41471399677604237],[-1.9855103235707856,-1.5821556794247842,1.316735407839659,-1.3053760552192306,-1.570796326793867,-0.41471399677592774],[-1.9855103235706848,-1.58215567942389,1.316735407838158,-1.3053760552177276,-1.5707963267939642,-0.4147139967758231],[-1.9855103235705935,-1.5821556794230802,1.316735407836799,-1.305376055216367,-1.5707963267940517,-0.41471399677572923],[-1.9855103235705107,-1.5821556794223466,1.3167354078355678,-1.3053760552151346,-1.5707963267941314,-0.414713996775644],[-1.985510323570436,-1.582155679421683,1.3167354078344542,-1.30537605521402,-1.5707963267942033,-0.4147139967755663],[-1.9855103235703686,-1.5821556794210827,1.3167354078334454,-1.30537605521301,-1.5707963267942688,-0.4147139967754963],[-1.985510323570307,-1.5821556794205385,1.3167354078325328,-1.3053760552120963,-1.5707963267943277,-0.41471399677543286],[-1.9855103235702518,-1.5821556794200462,1.3167354078317068,-1.3053760552112692,-1.5707963267943812,-0.4147139967753756],[-1.9855103235702012,-1.5821556794196008,1.3167354078309588,-1.3053760552105202,-1.5707963267944298,-0.41471399677532333],[-1.9855103235701557,-1.5821556794191975,1.3167354078302829,-1.3053760552098435,-1.5707963267944742,-0.41471399677527593],[-1.9855103235701144,-1.582155679418832,1.3167354078296691,-1.3053760552092293,-1.5707963267945138,-0.41471399677523296],[-1.9855103235700768,-1.5821556794185017,1.3167354078291151,-1.3053760552086744,-1.5707963267945497,-0.4147139967751945],[-1.9855103235700429,-1.5821556794182021,1.3167354078286124,-1.305376055208171,-1.5707963267945824,-0.4147139967751596],[-1.9855103235700124,-1.5821556794179317,1.3167354078281581,-1.305376055207716,-1.5707963267946121,-0.4147139967751276],[-1.9855103235699845,-1.582155679417686,1.3167354078277467,-1.3053760552073048,-1.570796326794639,-0.41471399677509846],[-1.9855103235699592,-1.5821556794174643,1.3167354078273743,-1.3053760552069316,-1.5707963267946632,-0.4147139967750728],[-1.9855103235699363,-1.5821556794172633,1.316735407827037,-1.3053760552065934,-1.5707963267946852,-0.41471399677504855],[-1.9855103235699159,-1.5821556794170812,1.3167354078267317,-1.3053760552062879,-1.570796326794705,-0.41471399677502746],[-1.9855103235698972,-1.582155679416917,1.3167354078264557,-1.3053760552060119,-1.5707963267947234,-0.41471399677500775],[-1.9855103235698803,-1.5821556794167677,1.3167354078262055,-1.3053760552057612,-1.5707963267947398,-0.4147139967749906],[-1.9855103235698646,-1.5821556794166325,1.3167354078259792,-1.305376055205535,-1.5707963267947542,-0.4147139967749741],[-1.985510323569851,-1.5821556794165104,1.3167354078257736,-1.305376055205329,-1.5707963267947678,-0.4147139967749603],[-1.9855103235698384,-1.5821556794164002,1.316735407825589,-1.3053760552051439,-1.5707963267947798,-0.41471399677494725],[-1.985510323569827,-1.5821556794162999,1.3167354078254208,-1.3053760552049758,-1.5707963267947906,-0.41471399677493537],[-1.9855103235698168,-1.582155679416209,1.3167354078252682,-1.305376055204823,-1.5707963267948009,-0.4147139967749243],[-1.9855103235698073,-1.5821556794161276,1.316735407825132,-1.305376055204686,-1.57079632679481,-0.4147139967749146],[-1.9855103235697988,-1.582155679416053,1.3167354078250064,-1.305376055204561,-1.5707963267948182,-0.41471399677490595],[-1.9855103235697913,-1.5821556794159854,1.3167354078248938,-1.3053760552044482,-1.5707963267948253,-0.4147139967748983],[-1.985510323569784,-1.5821556794159248,1.3167354078247917,-1.3053760552043465,-1.5707963267948322,-0.41471399677489074],[-1.9855103235697782,-1.5821556794158707,1.3167354078247007,-1.3053760552042541,-1.5707963267948382,-0.41471399677488413],[-1.9855103235697724,-1.58215567941582,1.3167354078246154,-1.3053760552041693,-1.5707963267948437,-0.41471399677487847],[-1.9855103235697673,-1.5821556794157738,1.3167354078245395,-1.305376055204094,-1.5707963267948486,-0.4147139967748732],[-1.9855103235697624,-1.5821556794157337,1.3167354078244708,-1.305376055204025,-1.5707963267948533,-0.4147139967748679],[-1.985510323569758,-1.582155679415697,1.3167354078244098,-1.3053760552039635,-1.570796326794857,-0.41471399677486354],[-1.9855103235697542,-1.5821556794156637,1.3167354078243543,-1.305376055203908,-1.5707963267948606,-0.4147139967748595],[-1.9855103235697509,-1.5821556794156337,1.3167354078243034,-1.3053760552038565,-1.5707963267948644,-0.4147139967748559],[-1.9855103235697478,-1.5821556794156055,1.316735407824257,-1.305376055203811,-1.5707963267948672,-0.4147139967748524],[-1.985510323569745,-1.5821556794155809,1.3167354078242153,-1.3053760552037688,-1.5707963267948704,-0.4147139967748499],[-1.9855103235697424,-1.5821556794155585,1.3167354078241773,-1.305376055203731,-1.5707963267948728,-0.4147139967748474],[-1.98551032356974,-1.582155679415538,1.3167354078241433,-1.3053760552036968,-1.570796326794875,-0.41471399677484416],[-1.9855103235697378,-1.5821556794155196,1.3167354078241125,-1.3053760552036657,-1.570796326794877,-0.41471399677484244],[-1.985510323569736,-1.582155679415503,1.3167354078240845,-1.305376055203638,-1.5707963267948788,-0.4147139967748407],[-1.9855103235697342,-1.582155679415488,1.3167354078240594,-1.3053760552036124,-1.5707963267948801,-0.4147139967748388],[-1.9855103235697327,-1.5821556794154743,1.3167354078240363,-1.3053760552035893,-1.5707963267948821,-0.4147139967748365],[-1.985510323569731,-1.582155679415462,1.3167354078240163,-1.3053760552035694,-1.5707963267948832,-0.41471399677483556],[-1.98551032356973,-1.5821556794154505,1.3167354078239963,-1.3053760552035498,-1.5707963267948848,-0.4147139967748339],[-1.9855103235697287,-1.5821556794154406,1.3167354078239801,-1.3053760552035332,-1.570796326794886,-0.4147139967748329],[-1.9855103235697278,-1.5821556794154314,1.3167354078239648,-1.3053760552035178,-1.5707963267948866,-0.41471399677483123],[-1.985510323569727,-1.5821556794154232,1.3167354078239506,-1.3053760552035034,-1.570796326794888,-0.41471399677483095],[-1.9855103235697258,-1.5821556794154157,1.3167354078239377,-1.3053760552034905,-1.5707963267948886,-0.41471399677482973],[-1.9855103235697251,-1.5821556794154084,1.3167354078239257,-1.3053760552034792,-1.5707963267948892,-0.4147139967748291],[-1.9855103235697242,-1.582155679415403,1.3167354078239166,-1.3053760552034694,-1.57079632679489,-0.4147139967748285],[-1.9855103235697238,-1.5821556794153968,1.3167354078239062,-1.3053760552034597,-1.5707963267948906,-0.41471399677482773],[-1.9855103235697233,-1.5821556794153921,1.3167354078238982,-1.3053760552034512,-1.5707963267948912,-0.414713996774827],[-1.9855103235697227,-1.582155679415387,1.3167354078238898,-1.305376055203443,-1.5707963267948915,-0.4147139967748267],[-1.985510323569722,-1.582155679415383,1.316735407823884,-1.305376055203437,-1.5707963267948923,-0.41471399677482584],[-1.9855103235697218,-1.5821556794153795,1.316735407823877,-1.3053760552034304,-1.5707963267948923,-0.41471399677482584],[-1.9855103235697211,-1.5821556794153762,1.3167354078238713,-1.3053760552034244,-1.5707963267948928,-0.4147139967748254],[-1.9855103235697211,-1.5821556794153728,1.3167354078238662,-1.3053760552034195,-1.5707963267948934,-0.4147139967748252],[-1.9855103235697205,-1.58215567941537,1.3167354078238624,-1.3053760552034155,-1.5707963267948937,-0.41471399677482457],[-1.9855103235697202,-1.5821556794153675,1.3167354078238571,-1.3053760552034104,-1.5707963267948941,-0.41471399677482434],[-1.9855103235697198,-1.5821556794153657,1.3167354078238542,-1.3053760552034068,-1.5707963267948943,-0.41471399677482396],[-1.98551032356972,-1.5821556794153637,1.316735407823851,-1.305376055203404,-1.5707963267948943,-0.4147139967748236],[-1.9855103235697196,-1.5821556794153617,1.3167354078238471,-1.3053760552034002,-1.5707963267948946,-0.41471399677482357],[-1.9855103235697193,-1.5821556794153595,1.3167354078238445,-1.3053760552033975,-1.5707963267948948,-0.41471399677482357],[-1.9855103235697191,-1.582155679415358,1.3167354078238411,-1.3053760552033946,-1.570796326794895,-0.4147139967748233],[-1.9855103235697191,-1.582155679415357,1.3167354078238398,-1.3053760552033928,-1.570796326794895,-0.41471399677482296],[-1.9855103235697191,-1.5821556794153557,1.3167354078238378,-1.3053760552033904,-1.5707963267948952,-0.4147139967748229],[-1.985510323569719,-1.5821556794153544,1.3167354078238354,-1.3053760552033882,-1.5707963267948952,-0.41471399677482274],[-1.9855103235697187,-1.5821556794153535,1.3167354078238336,-1.3053760552033866,-1.5707963267948957,-0.4147139967748222],[-1.9855103235697182,-1.5821556794153528,1.3167354078238327,-1.3053760552033855,-1.5707963267948957,-0.4147139967748225],[-1.9855103235697185,-1.5821556794153515,1.316735407823831,-1.305376055203384,-1.5707963267948957,-0.4147139967748221],[-1.9855103235697182,-1.5821556794153513,1.3167354078238298,-1.305376055203383,-1.570796326794896,-0.41471399677482185],[-1.9855103235697182,-1.5821556794153502,1.316735407823828,-1.3053760552033813,-1.5707963267948961,-0.41471399677482224],[-1.9855103235697185,-1.5821556794153502,1.3167354078238276,-1.3053760552033802,-1.570796326794896,-0.4147139967748218],[-1.9855103235697178,-1.5821556794153488,1.3167354078238263,-1.305376055203379,-1.5707963267948961,-0.41471399677482174],[-1.9855103235697178,-1.5821556794153486,1.3167354078238263,-1.305376055203379,-1.5707963267948963,-0.4147139967748218],[-1.9855103235697185,-1.5821556794153484,1.316735407823825,-1.3053760552033775,-1.5707963267948961,-0.414713996774822],[-1.985510323569718,-1.582155679415348,1.3167354078238247,-1.3053760552033773,-1.5707963267948963,-0.4147139967748215],[-1.9855103235697178,-1.5821556794153473,1.3167354078238234,-1.3053760552033764,-1.5707963267948961,-0.4147139967748216],[-1.985510323569718,-1.582155679415347,1.3167354078238231,-1.3053760552033762,-1.5707963267948961,-0.41471399677482124],[-1.985510323569718,-1.582155679415347,1.3167354078238234,-1.305376055203376,-1.5707963267948966,-0.4147139967748218],[-1.985510323569718,-1.5821556794153464,1.3167354078238223,-1.3053760552033746,-1.5707963267948966,-0.4147139967748214],[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.305376055203375,-1.5707963267948963,-0.4147139967748218],[-1.9855103235697176,-1.5821556794153455,1.316735407823821,-1.3053760552033744,-1.5707963267948966,-0.41471399677482157],[-1.9855103235697178,-1.582155679415346,1.3167354078238218,-1.3053760552033742,-1.5707963267948963,-0.41471399677482124],[-1.9855103235697176,-1.5821556794153455,1.3167354078238205,-1.3053760552033733,-1.5707963267948963,-0.4147139967748211],[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.3053760552033733,-1.5707963267948966,-0.41471399677482146],[-1.9855103235697178,-1.582155679415345,1.31673540782382,-1.3053760552033729,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.5821556794153449,1.31673540782382,-1.305376055203373,-1.5707963267948963,-0.4147139967748217],[-1.9855103235697174,-1.5821556794153446,1.3167354078238194,-1.3053760552033722,-1.5707963267948966,-0.4147139967748211],[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.305376055203372,-1.5707963267948968,-0.41471399677482185],[-1.985510323569718,-1.5821556794153449,1.3167354078238191,-1.3053760552033715,-1.5707963267948966,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948966,-0.41471399677482107],[-1.9855103235697178,-1.5821556794153442,1.3167354078238187,-1.305376055203372,-1.5707963267948966,-0.4147139967748213],[-1.9855103235697174,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697171,-1.5821556794153442,1.3167354078238185,-1.3053760552033715,-1.5707963267948968,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153444,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482107],[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482074],[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.3053760552033715,-1.5707963267948968,-0.4147139967748213],[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033713,-1.5707963267948966,-0.4147139967748213],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697174,-1.5821556794153442,1.3167354078238185,-1.305376055203371,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697178,-1.582155679415344,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748213],[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748217],[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.41471399677482],[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033709,-1.5707963267948966,-0.41471399677482024],[-1.9855103235697178,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],[-1.9855103235697174,-1.582155679415344,1.3167354078238183,-1.3053760552033713,-1.5707963267948968,-0.41471399677482085],[-1.9855103235697176,-1.582155679415344,1.3167354078238185,-1.3053760552033713,-1.5707963267948966,-0.41471399677482057],[-1.9855103235697174,-1.582155679415344,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748217],[-1.9855103235697171,-1.5821556794153437,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482124],[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748212],[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948968,-0.4147139967748217],[-1.9855103235697174,-1.5821556794153435,1.3167354078238178,-1.305376055203371,-1.5707963267948968,-0.4147139967748199],[-1.9855103235697174,-1.5821556794153437,1.316735407823818,-1.3053760552033713,-1.5707963267948966,-0.41471399677481996],[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482135],[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],[-1.9855103235697174,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482074],[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033709,-1.5707963267948968,-0.41471399677482096],[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748212],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.4147139967748209],[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948963,-0.4147139967748211],[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],[-1.9855103235697176,-1.5821556794153433,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948966,-0.4147139967748208],[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.41471399677482046],[-1.9855103235697174,-1.582155679415343,1.3167354078238165,-1.3053760552033702,-1.5707963267948966,-0.41471399677482024],[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.4147139967748201],[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697176,-1.5821556794153437,1.316735407823818,-1.305376055203371,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033709,-1.5707963267948968,-0.4147139967748208],[-1.9855103235697178,-1.582155679415344,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.4147139967748207],[-1.9855103235697178,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482057],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697174,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482107],[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.4147139967748206],[-1.9855103235697176,-1.582155679415343,1.3167354078238165,-1.3053760552033697,-1.5707963267948963,-0.4147139967748207],[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],[-1.985510323569718,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948963,-0.4147139967748207],[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948968,-0.41471399677482146],[-1.9855103235697174,-1.5821556794153433,1.316735407823817,-1.3053760552033704,-1.5707963267948966,-0.4147139967748203],[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697176,-1.5821556794153444,1.3167354078238185,-1.3053760552033709,-1.5707963267948968,-0.41471399677482135],[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.4147139967748211],[-1.9855103235697178,-1.5821556794153442,1.3167354078238183,-1.3053760552033706,-1.5707963267948966,-0.4147139967748213],[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.414713996774821],[-1.9855103235697171,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948963,-0.4147139967748206],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.570796326794897,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948968,-0.41471399677482074],[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948968,-0.41471399677482057],[-1.9855103235697171,-1.5821556794153433,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482035],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],[-1.9855103235697174,-1.5821556794153437,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948963,-0.4147139967748212],[-1.9855103235697171,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033706,-1.5707963267948963,-0.4147139967748204],[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948968,-0.41471399677482085],[-1.9855103235697178,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.41471399677482074],[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748209],[-1.9855103235697171,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033709,-1.5707963267948966,-0.4147139967748209],[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.5707963267948968,-0.414713996774821],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948966,-0.41471399677482085],[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948968,-0.41471399677482035],[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.41471399677482085],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],[-1.9855103235697174,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748209],[-1.9855103235697176,-1.582155679415344,1.316735407823818,-1.3053760552033709,-1.570796326794897,-0.4147139967748207],[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482046],[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033709,-1.5707963267948966,-0.41471399677482057],[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482024],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033706,-1.5707963267948968,-0.4147139967748207],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482057],[-1.9855103235697176,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697174,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948968,-0.41471399677482057],[-1.9855103235697176,-1.5821556794153442,1.3167354078238185,-1.3053760552033709,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697174,-1.5821556794153442,1.3167354078238183,-1.305376055203371,-1.5707963267948966,-0.41471399677482085],[-1.9855103235697176,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033704,-1.5707963267948968,-0.4147139967748204],[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748208],[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482157],[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033695,-1.5707963267948966,-0.41471399677482057],[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948963,-0.4147139967748205],[-1.9855103235697176,-1.5821556794153435,1.3167354078238165,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697174,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.5707963267948966,-0.41471399677482035],[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948968,-0.41471399677482096],[-1.9855103235697174,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.41471399677482124],[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.41471399677482107],[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482007],[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948968,-0.41471399677482107],[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948961,-0.41471399677482057],[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033706,-1.5707963267948966,-0.4147139967748208],[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.5821556794153437,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.41471399677482096],[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033702,-1.5707963267948968,-0.4147139967748206],[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748207],[-1.9855103235697178,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.4147139967748206],[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748208],[-1.9855103235697176,-1.5821556794153435,1.3167354078238176,-1.3053760552033706,-1.570796326794897,-0.41471399677482057],[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748203],[-1.9855103235697176,-1.5821556794153437,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.41471399677482107],[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697174,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.5707963267948966,-0.41471399677482035],[-1.985510323569718,-1.582155679415344,1.3167354078238178,-1.3053760552033704,-1.5707963267948963,-0.4147139967748209],[-1.9855103235697174,-1.5821556794153433,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482],[-1.9855103235697176,-1.5821556794153433,1.3167354078238163,-1.3053760552033695,-1.570796326794897,-0.41471399677482057],[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033704,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948966,-0.41471399677482046],[-1.9855103235697176,-1.582155679415344,1.3167354078238174,-1.3053760552033704,-1.5707963267948963,-0.41471399677482085],[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.4147139967748217],[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.30537605520337,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697176,-1.5821556794153435,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.41471399677482035],[-1.9855103235697176,-1.5821556794153437,1.316735407823817,-1.3053760552033702,-1.5707963267948966,-0.41471399677482096],[-1.9855103235697178,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],[-1.9855103235697176,-1.582155679415344,1.3167354078238176,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033704,-1.5707963267948966,-0.4147139967748204],[-1.9855103235697174,-1.5821556794153442,1.316735407823818,-1.3053760552033706,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033702,-1.5707963267948966,-0.41471399677482085],[-1.9855103235697176,-1.5821556794153435,1.3167354078238167,-1.3053760552033697,-1.5707963267948966,-0.4147139967748206],[-1.9855103235697174,-1.5821556794153437,1.3167354078238176,-1.3053760552033706,-1.5707963267948968,-0.4147139967748202],[-1.9855103235697176,-1.5821556794153433,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.4147139967748205],[-1.9855103235697176,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.41471399677482096],[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],[-1.9855103235697178,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948968,-0.4147139967748205],[-1.9855103235697176,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.5707963267948966,-0.41471399677482074],[-1.9855103235697174,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748211],[-1.9855103235697176,-1.5821556794153435,1.3167354078238171,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],[-1.9855103235697174,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948963,-0.41471399677482074],[-1.9855103235697176,-1.5821556794153437,1.3167354078238171,-1.3053760552033702,-1.5707963267948966,-0.4147139967748207],[-1.9855103235697174,-1.5821556794153437,1.3167354078238174,-1.3053760552033702,-1.570796326794897,-0.4147139967748207],[-1.9855103235697174,-1.582155679415344,1.3167354078238178,-1.3053760552033706,-1.5707963267948966,-0.4147139967748205],[-1.9855103235697174,-1.5821556794153433,1.3167354078238167,-1.30537605520337,-1.5707963267948968,-0.41471399677482057],[-1.9855103235697178,-1.5821556794153437,1.316735407823817,-1.30537605520337,-1.5707963267948966,-0.41471399677482124],[-1.9855103235697178,-1.5821556794153435,1.3167354078238171,-1.3053760552033704,-1.5707963267948966,-0.41471399677482046],[-1.9855103235697176,-1.5821556794153437,1.3167354078238167,-1.3053760552033697,-1.5707963267948968,-0.41471399677482046],[-1.9855103235697178,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748214],[-1.9855103235697178,-1.582155679415344,1.3167354078238176,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],[-1.9855103235697176,-1.5821556794153435,1.316735407823817,-1.3053760552033702,-1.5707963267948968,-0.4147139967748208],[-1.9855103235697176,-1.5821556794153442,1.3167354078238178,-1.3053760552033704,-1.5707963267948966,-0.4147139967748209],[-1.9855103235697174,-1.5821556794153437,1.3167354078238171,-1.30537605520337,-1.5707963267948968,-0.41471399677482085]],"metrics":{"valid":true,"success":false,"reason":"timeout","simulation_time":20.00000000000146,"steps":1000,"lift_seen":false,"grasp_seen":false,"max_object_lift_m":6.229966542647958e-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":0.20273783801143488,"warnings":[],"physical_robot_ready":false},"timing":{"setup_seconds":0.22044083406217396,"episode_wall_seconds":8.371085292194039,"control_step_seconds":{"count":1000,"median":0.0033328330609947443,"p95":0.014122541062533855,"max":0.438936083111912},"missed_control_boundaries":32,"control_boundaries":1000,"simulated_seconds_per_wall_second":2.389176468987991,"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":"8086eff10368d49840beaf0b6e1d22477f11d52e50ae9552f99722e3a6e5d19f","initial_object_position_m":[-0.13444194846976829,0.4789461432058896,0.2998922445174839],"target_position_m":[0.0681234861072569,0.487304618950296,0.3],"id":"nominal-02--replay_open_jaw","scene_id":"nominal-02","attempt_wall_seconds":8.378553292015567}
